Control method and device and vehicle

Abstract

A control method, device and vehicle, the method comprising: controlling a display device to display a first area indicating an area available for vehicle parking; controlling the display device to display a first parking area according to the first instruction, wherein the first area comprises the first parking area; according to a first area boundary of the first area and the first parking area, the display device is controlled to display a second parking area, and the first area comprises the second parking area. The technical scheme can be applied to intelligent vehicles or electric vehicles, the complexity of user operation in the automatic parking process can be reduced, and the user experience can be improved.

Description

Control method, device and vehicle

[0001] The present application relates to the field of smart vehicles, and more specifically, to a control method, device and vehicle.

[0002] Automatic parking (AP) refers to the automatic parking of a vehicle, that is, the autonomous driving system can semi-automatically or fully automatically help the user park the vehicle into the parking space. Automatic parking can include automatic parking assist (APA), remote parking assist (RPA) and automatic valet parking (AVP).

[0003] The current automatic parking system can determine the target parking area selected by the user based on the position of the virtual icon on the parking interaction interface, and then control the vehicle to park in the target parking area. Generally, the user can adjust the position of the virtual icon on the parking interaction interface by dragging. However, under the current technical background, when the user drags the virtual icon to the corresponding position of the parking interaction interface, the position of the virtual icon may be different from the parking position desired by the user. At this time, the user is required to manually adjust the position of the virtual icon, which makes the user's operation during parking more complicated.

[0004]

[0005] The present application provides a control method, device and vehicle, which can reduce the complexity of user operations during automatic parking and help improve the user experience.

[0006] In the first aspect, a control method is provided, which can be executed by a vehicle; or, it can also be executed by a computing platform of the vehicle; or, it can also be executed by a chip or circuit used for the vehicle; or, it can also be executed by a mobile terminal associated with the vehicle, and this application does not make specific limitations on this.

[0007] The vehicles involved in this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, the vehicle is a vehicle in a broad sense, which may be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a lawn mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The embodiments of this application do not specifically limit the type of vehicle.

[0008] The method includes: controlling a display device to display a first area, the first area indicating an area available for vehicle parking; controlling the display device to display a first parking area according to a first instruction, the first area including the first parking area; and controlling the display device to display a second parking area according to a first area boundary of the first area and the first parking area, the first area including the second parking area.

[0009] In the above technical solution, the posture indicating the target parking area of ​​the vehicle can be automatically adjusted. When it is detected that the icon of the parking area is moved to a certain position (such as the first position) in the preset area of ​​the human-computer interaction interface, the target parking area is controlled to be displayed in a specific area; during the remote parking process, it helps to reduce the complexity of user operations and thus improve the user experience.

[0010] Exemplarily, the second parking area indicates a target parking area for the vehicle and a target posture of the vehicle in the target parking area.

[0011] Exemplarily, the first parking area is displayed at the first position of the first area, and the first instruction may be generated according to the user's preset operation, and the preset operation may include but is not limited to: long pressing the first position of the first interface, long pressing the icon or image indicating the vehicle position and dragging it to the first position, clicking the icon creation button and then single-clicking the first position, and sliding the icon clockwise or counterclockwise to move it to the first position.

[0012] In combination with the first aspect, the display device is controlled to display the second parking area, including: when the distance between the preset point of the first parking area and the boundary of the first area is less than or equal to the first distance threshold, the display device is controlled to display the second parking area; the distance between the second parking area and the boundary of the first area is greater than or equal to the second distance threshold.

[0013] In some possible implementations, the distance between the second parking area and the boundary of the first area includes at least one of the following: the shortest distance between the second parking area and the boundary of the first area, and the distance between a preset point of the second parking area and the boundary of the first area.

[0014] Exemplarily, when a set of boundaries of the second anchorage area is parallel to the boundary of the first area, the closest distance between the second anchorage area and the boundary of the first area is: the distance between the boundary of the second anchorage area that is parallel to and closest to the boundary of the first area and the boundary of the first area; when any set of boundaries of the second anchorage area is not parallel to the boundary of the first area, the closest distance between the second anchorage area and the boundary of the first area is: the distance between the vertex of the second anchorage area that is closest to the boundary of the first area and the boundary of the first area.

[0015] Exemplarily, the preset point of the first parking area may include the center point of the first parking area, or may be other points in the first parking area; the preset point of the second parking area may include the center point of the second parking area, or may be other points in the second parking area.

[0016] In the above technical solution, when the distance between the preset point of the first parking area and the area boundary is less than or equal to the preset threshold, the second parking area is controlled to be displayed, which helps to improve the degree of consistency between the target parking area and the parking area imagined by the user, thereby improving the humanization of automatic parking; controlling the distance between the second parking area and the boundary of the first area to be greater than or equal to the preset threshold helps to avoid the vehicle from scratching the boundary of the first area during parking, thereby improving the driving safety of the vehicle; in addition, only limiting the closest distance between the second parking area and the boundary of the first area to be greater than or equal to the preset threshold, and not limiting the posture angle of the second parking area, helps to reduce the complexity of adjusting the posture of the target parking area.

[0017] In combination with the first aspect, in certain implementations of the first aspect, controlling the display device to display the second docking area includes: when an angle between the boundary of the first area and the first boundary of the first docking area is less than or equal to a first angle threshold, controlling the second boundary of the second docking area to be parallel to the boundary of the first area, and the second boundary corresponds to the first boundary.

[0018] In the above technical solution, when the angle between a certain boundary of the parking area and the boundary of the first area is less than or equal to a preset threshold, the posture angle of the parking area is automatically adjusted so that the boundary of the parking area is parallel to the boundary of the first area, which helps to reduce the operation difficulty of the user; in addition, the above technical solution not only limits the closest distance between the second parking area and the boundary of the first area to be greater than or equal to the preset threshold, but also limits the second boundary of the second parking area to be parallel to the boundary of the first area, which helps to improve the humanization of automatic parking, and after the vehicle is parked in the second parking area, the parking position of the vehicle does not affect the passage of other vehicles or other traffic participants.

[0019] In combination with the first aspect, in certain implementations of the first aspect, the first area also includes a second area boundary, the second area boundary is parallel to the first area boundary, and the distance between the second area boundary and the first area boundary is less than or equal to a third distance threshold, and the controlling the display device to display the second parking area includes: when a preset point of the first parking area is between the first area boundary and the second area boundary, controlling the display device to display the second parking area according to the first parking area, the first area boundary and the second area boundary.

[0020] In the above technical solution, when the preset point of the first docking area is located between the boundary of the first area and the boundary of the second area, the second docking area is controlled to be displayed in the first area (that is, between the boundary of the first area and the boundary of the second area), so that the user does not have to move the center point of the first docking area or set it in the middle of the two boundaries of the first area, which helps to reduce the user's operation difficulty and further improve the user's experience.

[0021] In combination with the first aspect, in certain implementations of the first aspect, controlling the display device to display the second docking area includes: when the distance between a preset point of the first docking area and the first reference line is less than or equal to a fourth distance threshold, controlling the closest distance between the second docking area and the boundary of the first area to be greater than or equal to a fifth distance threshold, and / or the closest distance between the second docking area and the boundary of the second area to be greater than or equal to the fifth distance threshold; wherein the first reference line is a perpendicular bisector of a line connecting the boundary of the first area and the boundary of the second area.

[0022] Exemplarily, the fourth distance threshold and the first distance threshold may be the same value, or may be different values.

[0023] Exemplarily, the fifth distance threshold and the second distance threshold may be the same value, or may be different values.

[0024] Exemplarily, a central axis of the second parking area parallel to its longer side is parallel to the first reference line, or may be non-parallel.

[0025] In some possible implementations, there are multiple first areas in the interface, and the user accidentally lets go of the first docking area when dragging it between two boundaries of a first area (not the area indicating that the user wants to dock). At this time, the distance between the preset point of the first docking area and the first reference line of the first area is greater than a preset threshold. Then, through the above technical solution, the second docking area is not displayed in the first area according to the first docking area control.

[0026] In the above technical solution, when the user drags the first docking area to the system preset area, the first docking area is controlled to cover the position indicating the target docking area (i.e., the second docking area), which helps to reduce the probability of false matching and thus improve the user experience.

[0027] In combination with the first aspect, in certain implementations of the first aspect, the first central axis of the second parking area is parallel to the first reference line.

[0028] Exemplarily, the first central axis indicates the position of the central axis of the vehicle, and the second parking area includes two central axes, which are respectively parallel to the longer side and the shorter side of the second parking area, wherein the first central axis can be the central axis parallel to the longer side of the second parking area.

[0029] In the above technical solution, the first central axis of the second parking area is made parallel to the boundary of the first area, which facilitates the subsequent parking of the vehicle after the vehicle is parked in the target parking area indicated by the icon; in addition, when there is another vehicle at the boundary of the first area, the impact on the parking process of the other vehicle can be reduced.

[0030] In combination with the first aspect, in certain implementations of the first aspect, the first central axis coincides with the first reference line.

[0031] In the above technical solution, the vehicle can be parked in the center of the area available for vehicle parking, which will not affect the user's getting on and off the vehicle, and is helpful to improve the user's driving experience.

[0032] In combination with the first aspect, in certain implementations of the first aspect, controlling the display device to display the second parking area includes: controlling the display device to display the third parking area based on the boundary of the first area and the first parking area; when there is an obstacle in the first planned path, controlling the display device to display the second parking area, and the first planned path is a path indicating the vehicle traveling from the current area to the third parking area.

[0033] In the above technical solution, the position of the target parking area can be adaptively adjusted according to the position of the obstacle, so that the vehicle can park according to the adjusted target parking area, which helps to improve the intelligence of the vehicle and further improve the user experience.

[0034] In combination with the first aspect, in certain implementations of the first aspect, the boundary of the first area is determined based on at least one of the following: a boundary of an obstacle, a tangent line of an outer edge of the obstacle, and a parking space line.

[0035] In the above technical solution, the boundaries of the area that can be used for parking can be determined not only based on the parking space lines, but also based on features such as the location and shape of obstacles. This allows the vehicle to display icons or images of areas that can be used for parking to users in a variety of scenarios, which helps to improve the compatibility of the solution in different scenarios and thus improve the user experience.

[0036] In a second aspect, a control device is provided, which includes: a first processing unit, used to control a display device to display a first area, wherein the first area indicates an area that can be used for vehicle parking; a second processing unit, used to control the display device to display a first parking area according to a first instruction, wherein the first area includes the first parking area; and a third processing unit, used to control the display device to display a second parking area according to a first area boundary of the first area and the first parking area, wherein the first area displays the second parking area.

[0037] In combination with the second aspect, in certain implementations of the second aspect, the third processing unit is used to: control the display device to display the second parking area when the distance between the preset point of the first parking area and the boundary of the first area is less than or equal to a first distance threshold; the distance between the second parking area and the boundary of the first area is greater than or equal to a second distance threshold.

[0038] In combination with the second aspect, in certain implementations of the second aspect, the third processing unit is used to: when the angle between the boundary of the first area and the first boundary of the first parking area is less than or equal to a first angle threshold, control the second boundary of the second parking area to be parallel to the boundary of the first area, and the second boundary corresponds to the first boundary.

[0039] In combination with the second aspect, in certain implementations of the second aspect, the first area also includes a second area boundary, the second area boundary is parallel to the first area boundary, and the distance between the second area boundary and the first area boundary is less than or equal to a third distance threshold, and the third processing unit is used to: when the preset point of the first parking area is between the first area boundary and the second area boundary, control the display device to display the second parking area according to the first parking area, the first area boundary and the second area boundary.

[0040] In combination with the second aspect, in certain implementations of the second aspect, the third processing unit is used to: when the distance between the preset point of the first parking area and the first reference line is less than or equal to a fourth distance threshold, control the closest distance between the second parking area and the boundary of the first area to be greater than or equal to a fifth distance threshold, and / or the closest distance between the second parking area and the boundary of the second area to be greater than or equal to the fifth distance threshold; wherein the first reference line is a perpendicular bisector of a line connecting the boundary of the first area and the boundary of the second area.

[0041] In combination with the second aspect, in certain implementations of the second aspect, a first central axis of the second parking area is parallel to the first reference line, or the first central axis coincides with the first reference line.

[0042] In combination with the second aspect, in certain implementations of the second aspect, the third processing unit is used to: control the display device to display the third parking area based on the first area boundary and the first parking area; when there is an obstacle in the first planned path, control the display device to display the second parking area, and the first planned path is a path indicating the vehicle traveling from the current area to the third parking area.

[0043] In combination with the second aspect, in certain implementations of the second aspect, the boundary of the first area is determined based on at least one of the following: a boundary of an obstacle, a tangent line of an outer edge of the obstacle, and a parking space line.

[0044] In a third aspect, a control device is provided, comprising: a memory for storing a computer program; and a processor for executing the computer program stored in the memory, so that the device performs a method as in any possible implementation of the first aspect.

[0045] In a fourth aspect, a vehicle is provided, comprising a device as in any possible implementation of the second aspect or the third aspect.

[0046] In a fifth aspect, a computer program product is provided, the computer program product comprising: a computer program code, when the computer program code is run on a computer, the computer executes the method in any possible implementation of the first aspect.

[0047] It should be noted that the above-mentioned computer program code may be stored in whole or in part on a first storage medium, wherein the first storage medium may be packaged together with the processor or may be packaged separately from the processor.

[0048] In a sixth aspect, a computer-readable medium is provided, wherein the computer-readable medium stores instructions, and when the instructions are executed by a processor, the processor implements the method in any possible implementation manner of the first aspect.

[0049] In a seventh aspect, a chip is provided, the chip comprising a circuit, the circuit being used to execute the method in any possible implementation manner of the first aspect above.

[0050] FIG1 is a functional block diagram of a vehicle provided by an embodiment of the present application;

[0051] FIG2 is a schematic diagram of a system architecture required for implementing a control method provided in an embodiment of the present application;

[0052] FIG3 is a schematic flow chart of a control method provided in an embodiment of the present application;

[0053] FIG4 is an HMI provided by an embodiment of the present application;

[0054] FIG5 is another HMI provided in an embodiment of the present application;

[0055] FIG6 is another HMI provided in an embodiment of the present application;

[0056] FIG. 7 is another HMI provided in an embodiment of the present application;

[0057] FIG8 is another HMI provided in an embodiment of the present application;

[0058] FIG9 is another HMI provided in an embodiment of the present application;

[0059] FIG10 is another HMI provided in an embodiment of the present application;

[0060] FIG11 is another HMI provided in an embodiment of the present application;

[0061] FIG12 is another HMI provided in an embodiment of the present application;

[0062] FIG13 is another schematic flow chart of a control method provided in an embodiment of the present application;

[0063] FIG14 is a schematic block diagram of a control device provided in an embodiment of the present application;

[0064] FIG. 15 is another schematic block diagram of the control device provided in an embodiment of the present application.

[0065] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is a kind of association relationship that describes associated objects, indicating that three relationships can exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In this application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0066] Prefixes such as "first" and "second" are used in the embodiments of the present application only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and no unnecessary limitation shall be constituted due to the use of such prefixes.

[0067] As described above, under the current technical background, when the user drags the virtual icon to the corresponding position of the parking interaction interface, the position of the virtual icon may be different from the parking position the user wants. At this time, the user is required to manually adjust the position of the virtual icon, which makes the operation complexity of the user's parking process higher.

[0068] In view of this, the embodiments of the present application provide a control method, device and vehicle. When the user sets the virtual icon to the corresponding position of the parking interaction interface, the posture of the virtual icon can be automatically adjusted according to the positional relationship between the virtual icon and the boundary of the parking area, thereby controlling the vehicle to park in the area indicated by the adjusted virtual icon, which helps to reduce the complexity of user operations and improve the user experience.

[0069] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0070] FIG1 is a functional block diagram of a vehicle provided in an embodiment of the present application. As shown in FIG1 , the vehicle 100 may include a perception system 120, a display device 130, and a computing platform 150, wherein the perception system 120 may include several sensors for sensing information about the environment surrounding the vehicle 100. For example, the perception system 120 may include a positioning system, and the positioning system may be a global positioning system (GPS), or a Beidou system or other positioning systems. For another example, the perception system 120 may also include one or more of an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera device.

[0071] Some or all functions of the vehicle 100 may be controlled by a computing platform 150. The computing platform 150 may include processors 151 to 15n. The processor is a circuit with signal processing capability. In one implementation, the processor may be a circuit with instruction reading and execution capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which may be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit may be fixed or reconfigurable, such as a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration may be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor may also be a hardware circuit designed for artificial intelligence, which may be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory, the memory is used to store instructions, and some or all of the processors 151 to 15n may call the instructions in the memory to implement corresponding functions.

[0072] The display device 130 in the cockpit is mainly divided into two categories. The first category is the vehicle-mounted display screen; the second category is the projection display screen, such as a head up display (HUD). The vehicle-mounted display screen is a physical display screen and an important part of the vehicle-mounted infotainment system. Multiple display screens can be set in the cockpit, such as a digital instrument display screen, a central control screen, etc. In some possible implementations, one or more of the above-mentioned vehicle-mounted display screens can be a human machine interface (HMI), for example, the central control screen can be an HMI. Head-up display, also known as a head-up display system. It is mainly used to display driving information such as speed and navigation on a display device in front of the driver (such as a windshield). To reduce the driver's line of sight transfer time, avoid pupil changes caused by the driver's line of sight transfer, and improve driving safety and comfort. HUD includes, for example, a combined head-up display (C-HUD) system, a windshield head-up display (W-HUD) system, and an augmented reality head-up display system (AR-HUD).

[0073] Vehicle 100 may include an advanced driving assistant system (ADAS), which utilizes a variety of sensors on the vehicle (including but not limited to: lidar, millimeter wave radar, camera, ultrasonic sensor, global positioning system, inertial measurement unit) to obtain information from the surroundings of the vehicle, and analyzes and processes the obtained information to achieve functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring / reminder, etc., thereby improving the safety, automation and comfort of vehicle driving.

[0074] In terms of logical functions, ADAS systems generally include three main functional modules: perception module, decision module and execution module. The perception module perceives the environment around the vehicle body through sensors and inputs corresponding real-time data to the decision-making layer processing center. The perception module mainly includes on-board cameras / ultrasonic radars / millimeter-wave radars / lidar, etc.; the decision module uses computing devices and algorithms to make corresponding decisions based on the information obtained by the perception module; the execution module takes corresponding actions after receiving the decision signal from the decision module, such as driving, changing lanes, steering, braking, warnings, etc.

[0075] At different levels of autonomous driving (L0-L5), ADAS can achieve different levels of autonomous driving assistance based on artificial intelligence algorithms and information obtained by multiple sensors. The above autonomous driving levels (L0-L5) are based on the grading standards of the Society of Automotive Engineers (SAE). Among them, L0 is no automation; L1 is driving assistance; L2 is partial automation; L3 is conditional automation; L4 is highly automated; L5 is fully automated. The tasks of monitoring road conditions and responding to L1 to L3 are completed by the driver and the system together, and the driver needs to take over the dynamic driving tasks. L4 and L5 levels allow the driver to completely transform into the role of a passenger. At present, the functions that ADAS can achieve mainly include but are not limited to: adaptive cruise, automatic emergency braking, automatic parking, blind spot monitoring, front intersection traffic warning / braking, rear intersection traffic warning / braking, front vehicle collision warning, lane departure warning, lane keeping assist, rear vehicle collision avoidance warning, traffic sign recognition, traffic congestion assistance, highway assistance, etc. It should be understood that the above-mentioned various functions may have specific modes under different autonomous driving levels (L0-L5), and the higher the level of autonomous driving, the smarter the corresponding mode. For example, automatic parking may include APA, RPA, and AVP. For APA, the driver does not need to operate the steering wheel, but still needs to operate the accelerator and brake on the vehicle; for RPA, the driver can use a terminal (such as a mobile phone) to remotely park the vehicle from the outside of the vehicle; for AVP, the vehicle can complete parking without a driver. In terms of the corresponding autonomous driving level, APA is approximately at the L1 level, RPA is approximately at the L2-L3 level, and AVP is approximately at the L4 level.

[0076] In an embodiment of the present application, the display device 130 can display a parking area and preliminarily determine a target area in response to a user's operation. The computing platform 150 determines a target posture based on the target area and controls the posture of the vehicle after parking in the target area to be the target posture determined above.

[0077] FIG2 shows a schematic diagram of the system architecture required for implementing the control method provided in the embodiment of the present application. The system 200 includes a perception module 210, a human-computer interaction module 220, a posture adjustment and determination module 230, a planning control module 240 and an actuator 250. Specifically:

[0078] The perception module 210 may include a road side unit (RSU) in the area where the vehicle is located, or may include one or more camera devices in the perception system 120 shown in FIG1 , or one or more radar sensors, for collecting environmental information of the area where the vehicle is located, such as information on parking spaces, information on obstacles, etc. The perception module 210 may also process the collected environmental information to establish a world model consisting of roads, obstacles, etc. for downstream modules (such as the human-computer interaction module 220, the posture adjustment and determination module 230, and the planning control module 240). Exemplarily, the perception module 210 may determine an area available for vehicle parking based on obstacles and / or parking spaces, and send the information of the area available for vehicle parking to the human-computer interaction module 220.

[0079] The human-computer interaction module 220 may include one or more of the display devices 130 shown in FIG. 1 , for example, an HMI; or, the human-computer interaction module 220 may also include a mobile terminal. The human-computer interaction module 220 may display area 1, which may be an image or schematic diagram of an area available for vehicle parking, or area 1 may also be an icon indicating an area available for vehicle parking. The human-computer interaction module 220 may display icon 1 in area 1 in response to a preset operation of the user, and icon 1 is used to indicate the target parking area of ​​the vehicle and the target posture of the vehicle in the target parking area; further, the human-computer interaction module 220 may send the posture information (including position and posture information) of icon 1 to the planning control module 240.

[0080] In some possible implementations, the posture information of the icon 1 displayed by the human-computer interaction module 220 may be obtained from the posture adjustment and determination module 230. Exemplarily, the human-computer interaction module 220 may display the icon 2 in the area 1 in response to the preset operation of the user, and the human-computer interaction module 220 may send the posture information of the icon 2 to the posture adjustment and determination module 230. The area indicated by the icon 2 is not a better parking area, or the posture of the vehicle after parking in the area indicated by the icon 2 is inconsistent with the target posture.

[0081] The posture adjustment and determination module 230 may be one or more processors in the computing platform 150 shown in FIG. 1 , or may be one or more processors in a cloud server associated with the vehicle 100 shown in FIG. 1 . The posture adjustment and determination module 230 may determine the posture information of icon 1 based on the posture information of icon 2 and the boundary of area 1. In some possible implementations, the posture adjustment and determination module 230 may also determine the posture information of icon 1 based on the information of obstacles obtained from the perception module 210 and the planned path obtained from the planning control module 240. Further, the posture adjustment and determination module 230 sends the posture information of icon 1 to the human-computer interaction module 220, so that the human-computer interaction module 220 displays icon 1 according to the posture information of icon 1. Alternatively, the posture adjustment and determination module 230 may also send the posture information of icon 1 to the planning control module 240, so that the planning control module 240 re-plans the motion path for the vehicle.

[0082] The planning control module 240 may be one or more processors in the computing platform 150 shown in FIG. 1 , or may be one or more processors in a cloud server associated with the vehicle 100 shown in FIG. 1 , and is used to plan the movement path of the vehicle from the current area to the target parking area indicated by icon 1 , as well as the posture of the vehicle in the target parking area, based on the posture information of icon 1 sent by the human-computer interaction module 220 or the posture adjustment and determination module 230 .

[0083] Furthermore, the planning control module 240 calculates a corresponding control amount according to the planned motion path, and outputs the control amount to the actuator 250 .

[0084] When the actuator 250 executes the control amount, the vehicle is controlled to travel to the target area according to the planned motion path and park in the target area according to the target posture. In some possible implementations, the actuator may include a steering and braking control system in the vehicle 100 .

[0085] It should be noted that the position information of the above-mentioned icon 1 may include the coordinates of the target parking area and the position of the vehicle after entering the target parking area; or, the position information of the above-mentioned icon 1 may also include the relative coordinates and posture of the icon 1 in the parking interaction interface, and the relative coordinates may be the coordinates of the icon 1 relative to the area 1.

[0086] In some possible implementations, the processor of the system 200 may determine the coordinates of the target parking area and the posture of the vehicle after entering the target parking area based on the relative coordinates and posture of the icon 1 in the parking interaction interface, and vice versa.

[0087] Exemplarily, the mobile terminal involved in the embodiments of the present application may include various handheld devices (such as mobile phones, etc.) associated with the vehicle with wireless communication functions and display functions, wearable devices, computing devices or other processing devices connected to a wireless modem, as well as various forms of terminals, mobile stations, user equipment, etc.

[0088] It should be understood that the above modules are only examples, and in actual applications, the above modules may be added or deleted according to actual needs. For example, the system architecture shown in FIG2 may not include the planning control module 240 and the actuator 250; or, in the system architecture shown in FIG2, the posture adjustment and determination module 230 and the human-computer interaction module 220 may be combined into one module.

[0089] FIG3 shows a schematic flow chart of a control method provided by an embodiment of the present application. The method 300 may be executed by the vehicle 100 shown in FIG1 . More specifically, the method 400 may be executed by the computing platform 150 in the vehicle 100 . Alternatively, the method 300 may also be executed by the posture adjustment and determination module 230 shown in FIG2 . Exemplarily, the method 300 may include:

[0090] S301 , in response to a preset operation of a user, determining an area boundary 1 of an area 1 and a posture 1 of an icon 2 , wherein the posture 1 at least indicates a position 1 of the icon 2 in an HMI interface.

[0091] Exemplarily, area 1 may include area 1 in the above embodiment, which is used to indicate an actual area that can be used for parking; area boundary 1 may be a boundary in area 1 that is adjacent to the target parking area.

[0092] For example, before detecting a preset operation of the user, an icon or image indicating the vehicle position and area 1 are displayed in the HMI interface. The preset operation may include but is not limited to:

[0093] (1) The user long presses the icon or image indicating the vehicle position, keeps the finger in contact with the screen and slides to position 1 of the HMI interface. Exemplarily, when the user long presses the icon or image indicating the vehicle position, in response to the user's long press operation, icon 2 is displayed at the icon or image indicating the vehicle position; further, in response to the user keeping the finger in contact with the screen and sliding to position 1, icon 2 is displayed at position 1. Exemplarily, the above-mentioned "long press" can be the duration of clicking the icon or image exceeding a first duration, which can be 1 second, or 2 seconds, or other durations.

[0094] (2) The user long presses the blank area of ​​area 1. For example, in response to the user long pressing the blank area of ​​area 1, icon 2 is displayed in the blank area, wherein the center point of icon 2 may be the position where the user long presses, and the posture of icon 2 may be any posture, or may be a posture preset by the system.

[0095] (3) The operation of clicking in the blank area of ​​area 1 within the second time period after the user clicks the icon creation button. Exemplarily, in response to the above operation of the user, icon 2 is displayed in the blank area, wherein the center point of icon 2 can be the position clicked by the user, and the posture of icon 2 can be any posture, or can also be a posture preset by the system. Exemplarily, the first time period can be 3 seconds, or 5 seconds, or can also be other time periods.

[0096] In some possible implementations, the first instruction may also be generated based on the position of the vehicle. For example, when the distance between the vehicle and the position indicated by the area boundary 1 is less than or equal to a preset distance threshold, the first instruction is generated, and then icon 2 is displayed according to the first instruction, and the icon 2 coincides with the current position of the vehicle.

[0097] Exemplarily, position 1 may indicate the position of the center point of icon 2 , or may also indicate the positions of four vertices of icon 2 .

[0098] In some possible implementations, the posture 1 indicates the position of the center point of the icon 2 and the posture angle of the icon 2 , and the posture angle may indicate the angle between the boundary of the icon 2 and the region boundary 1 .

[0099] In some possible implementations, the area boundary 1 may be determined based on at least one of the boundary of an obstacle, the tangent line of the outer edge of the obstacle, and the parking space line. For example, the obstacle may include, but is not limited to: other traffic participants (such as vehicles, pedestrians, etc.), road or building infrastructure (such as street lights, guardrails, parking lot columns, etc.), and vegetation (such as bushes, trees, etc.).

[0100] In one example, the obstacle includes a vehicle, and the area boundary 1 can be determined based on the external contour of the vehicle; in another example, when the obstacle includes a relatively regular long strip obstacle such as a bush, the area boundary 1 can be determined based on the boundary of the long strip obstacle; in another example, when the obstacle includes an arc-shaped obstacle (such as a circular flower bed, etc.), the area boundary 1 can be determined based on the tangent of the outer edge of the obstacle; in another example, when the obstacle includes multiple obstacles scattered at different positions, the area boundary 1 can be determined based on the distance between each of the multiple obstacles and icon 1, for example, the area boundary 1 can be a connecting line between the images or schematic diagrams of the two obstacles closest to icon 1.

[0101] In some possible implementations, the distance between the center point of the icon 1 indicated by the position 1 and the region boundary 1 is less than or equal to the preset distance 1.

[0102] For example, the preset distance 1 may be a value converted from a distance in the real world, and the preset distance 1 may be determined according to the following formula:

[0103] Wherein, T1 is the preset distance 1, l1 is the length of the longer side of icon 1, α is the preset angle, and L is the calibration threshold. For example, α may be 30°, or may be other values; L may be determined according to the calibration distance in the real world, for example, the calibration distance is 0.5 meters, and when converted to the scale displayed on the HMI interface, L may be 1 centimeter.

[0104] It should be noted that the calibration distance may also be 0.3 meters, or may be other values.

[0105] In some possible implementations, the distance between the center point of the icon 1 indicated by the position 1 and the region boundary 1 is less than or equal to the preset distance 1, and the angle between the boundary 1 of the icon 1 indicated by the position 1 and the region boundary 1 is less than or equal to the preset angle 1. The boundary 1 may be a boundary having a smaller angle with the region boundary 1.

[0106] Exemplarily, the preset angle 1 may be 30°, or 40°, or may be other values.

[0107] S302 , determining the posture of icon 1 according to posture 1 and region boundary 1 , where the posture of icon 1 at least indicates position 2 of icon 1 on the HMI interface.

[0108] Among them, icon 1 includes icon 1 in the above embodiment. Icon 1 indicates the target parking position of the vehicle and the target posture of the vehicle, for example, the center point of icon 1 indicates the position of the center point of the vehicle in the target parking area, and the central axis of icon 1 parallel to the longer side of icon 1 indicates the position of the central axis of the vehicle in the target parking area.

[0109] Exemplarily, the position and posture of icon 1 can be determined according to the position of the center point of icon 2; or, the position and posture of icon 1 can also be determined according to the position of the center point of icon 2 and the angle between region boundary 1 and the boundary of icon 2.

[0110] In some possible implementations, the position and posture of icon 1 may satisfy: when icon 1 is at position 2, the closest distance between icon 1 and region boundary 1 is greater than or equal to preset distance 2. Alternatively, the position and posture of icon 1 may also satisfy: when icon 1 is at position 2, the central axis of icon 1 is parallel to or perpendicular to region boundary 1.

[0111] Exemplarily, the preset distance 2 may also be a value converted from a real-world distance. For example, the preset distance 2 may be determined based on the above-mentioned calibrated distance, which may be understood as a safe distance to avoid scratches between the vehicle and obstacles during parking.

[0112] It should be noted that when the central axis of icon 1 is parallel or perpendicular to region boundary 1, the shortest distance between icon 1 and region boundary 1 is: the distance between the boundary of icon 1 and region boundary 1 that is the nearest neighbor to region boundary 1; when the central axis of icon 1 is neither parallel nor perpendicular to region boundary 1, the shortest distance between icon 1 and region boundary 1 is the distance between the vertex of icon 1 and region boundary 1 that is the nearest neighbor to region boundary 1.

[0113] Exemplarily, position 2 may indicate the position of the center point of icon 1 and the positions of the four vertices of icon 1 ; or, position 2 may indicate the position of the center point of icon 1 and the posture angle of icon 1 .

[0114] S303, controlling position 2 of the HMI interface to display icon 1.

[0115] In some possible implementations, position 2 and position 1 may be the same position.

[0116] Exemplarily, when the user drags icon 2 to position 1 and keeps it for a preset time, the HMI interface is controlled to display icon 1 at position 1. Exemplarily, the preset time may be 3 seconds, or 5 seconds, or other time lengths.

[0117] The control method provided in the embodiment of the present application can automatically adjust the posture of the icon indicating the target parking area of ​​the vehicle, which helps to reduce the complexity of user operations during remote parking and thus improve the user experience.

[0118] In order to help readers better understand the present application, the method 300 is described below in conjunction with FIG. 4 to FIG. 12 .

[0119] In some implementations, in response to the user dragging icon 2 to position 1 and releasing (i.e., releasing the finger), when the distance between the center point of icon 2 and region boundary 1 is less than or equal to the preset distance 1, the vehicle determines position 2 of icon 1 according to the position of icon 2 and region boundary 1, and controls the HMI to display icon 2 at position 2. For example, as shown in FIG4:

[0120] As shown in (a) of FIG. 4 , the HMI interface of the vehicle-mounted central control screen displays an icon 401, an obstacle 402, and an area 403. The obstacle 402 is located on one side of the area 403, and the boundary 4021 of the obstacle 402 can be regarded as a boundary of the area 403. Exemplarily, in response to the user dragging the icon 401 to the illustrated position, the icon 401 can be displayed; when the user releases the icon 401, if the distance between the center point of the icon 401 and the boundary 4021 is less than or equal to the preset distance 1, the HMI interface is controlled to display the icon 404, as shown in (b) of FIG. 4 , the closest distance L between the icon 404 and the boundary 4021 is equal to (or greater than) the preset distance 2.

[0121] The position and posture of icon 404 can be considered as: icon 401 is translated toward the direction close to boundary 4021 and determined.

[0122] In one example, as shown in (c) in FIG. 4 , when it is detected that a user clicks on icon 404 and slides counterclockwise, in response to the above operation, the HMI interface is controlled to display icon 405, as shown in (d) in FIG. 4 . At this time, the distance L between icon 405 and boundary 4021 is equal to (or greater than) the preset distance 2.

[0123] The position and posture of icon 405 can be regarded as: icon 404 is rotated counterclockwise by an angle θ with its point closest to boundary 4021 as the rotation center.

[0124] Optionally, the position and posture of icon 405 may also be determined by rotating icon 404 counterclockwise by an angle θ with its center point O as the rotation center, and then translating in a direction close to boundary 4021 .

[0125] In another example, as shown in (e) in Figure 4, when it is detected that the user clicks on icon 404 and slides clockwise, in response to the above operation, the central control screen is controlled to display icon 406, as shown in (f) in Figure 4. At this time, the distance L between icon 406 and boundary 4021 is equal to (or greater than) the preset distance 2.

[0126] The position and posture of icon 406 can be regarded as: icon 404 is rotated clockwise by an angle of (90°-θ) with the point closest to boundary 4021 as the rotation center.

[0127] Optionally, the position and posture of icon 406 may also be determined by rotating icon 404 clockwise by an angle of (90°-θ) with its center point O as the rotation center, and then translating in a direction close to boundary 4021 .

[0128] It should be noted that icon 401 can be understood as an example of icon 2 in method 300, and the position of icon 2 in the HMI interface can be understood as an example of position 1; icon 404 can be understood as an example of icon 1 in method 300; area 403 can be understood as an example of area 1 in method 300, and the position of icon 1 in the HMI interface can be understood as some examples of position 2; boundary 4021 can be understood as an example of area boundary 1 in method 300. In some scenarios, icon 404 can also be understood as an example of icon 2, and icon 405 can also be understood as an example of icon 1.

[0129] In some implementations, in response to the user dragging icon 2 to position 1 and releasing (i.e., releasing the finger), when the distance between the center point of icon 2 and region boundary 1 is less than or equal to the preset distance 1, and the angle between the boundary 1 of icon 2 and the region boundary 1 is less than or equal to the preset angle 1, the vehicle determines the position 2 of icon 1 according to the posture of icon 2 and region boundary 1, and controls the HMI to display icon 2 at position 2. For example, as shown in FIG5:

[0130] As shown in (a) of FIG. 5 , the HMI interface of the vehicle-mounted central control screen displays an icon 501, an obstacle 502, and an area 503. The obstacle 502 is located on one side of the area 503, and the boundary 5021 of the obstacle 502 can be regarded as a boundary of the area 503. Exemplarily, the icon 501 can be displayed in response to the user dragging the icon 501 to the illustrated position; when the user releases the icon 501, if the distance L1 between the center point of the icon 501 and the boundary 5021 is less than or equal to the preset distance 1, and the angle θ between the long side of the icon 501 and the boundary 5021 is less than or equal to the preset angle 1, the HMI interface is controlled to display the icon 504, as shown in (b) of FIG. 5 , the long side of the icon 504 is parallel to the boundary 5021, and the distance L between the icon 504 and the boundary 5021 is equal to (or greater than) the preset distance 2.

[0131] Optionally, the posture of icon 504 can be regarded as: after icon 501 rotates counterclockwise by an angle θ with its center point O as the rotation center, it is translated toward the direction close to boundary 5021; or, after icon 501 rotates counterclockwise by an angle θ with its point O' closest to boundary 5021 as the rotation center, it is translated toward the direction close to boundary 5021.

[0132] As shown in (c) of FIG. 5 , the HMI interface of the vehicle-mounted central control screen displays an icon 505 and a boundary 5021, and the boundary 5021 is a boundary of the area 503 (not shown in the figure). Exemplarily, the icon 505 can be displayed in response to the user dragging the icon 505 to the illustrated position; when the user releases the icon 505, if the distance L2 between the center point of the icon 505 and the boundary 5021 is less than or equal to the preset distance 1, and the angle θ between the short side of the icon 505 and the boundary 5021 is less than or equal to the preset angle 1, the HMI interface is controlled to display the icon 506, as shown in (d) of FIG. 5 , the short side of the icon 506 is parallel to the boundary 5021, and the distance L' between the icon 506 and the boundary 5021 is equal to (or greater than) the preset distance 2.

[0133] Optionally, the posture of icon 506 can be regarded as: after icon 505 rotates clockwise by an angle θ with its center point as the rotation center, it is translated in the direction away from boundary 5021; or after icon 505 rotates clockwise by an angle θ with its point closest to boundary 5021 as the rotation center, it is translated in the direction away from boundary 5021.

[0134] In some implementations, when the obstacles around the area 1 include multiple dispersed obstacles and / or include arc-shaped obstacles, in response to the user's preset operation, the HMI interface is controlled to display the icon 1 as shown in FIG. 6 and FIG. 7:

[0135] As shown in (a) of FIG6 , the HMI displays an icon 601, obstacles 602 to 604, and an area 605, wherein the obstacles 602 to 604 are located on one side of the area 605. Then, "determining the area boundary 1 of area 1" in S301 may include: determining the boundary 6051 of the area 605 according to the outer edge connection line of the two obstacles 602 and 604 closest to the icon 601. Further, the icon 601 may be displayed in response to the user dragging the icon 601 to the illustrated position; when the user releases the icon 601, if the distance L1 between the center point of the icon 601 and the boundary 6051 is less than or equal to the preset distance 1, and the angle θ between the long side of the icon 601 and the boundary 6051 is less than or equal to the preset angle 1, the HMI is controlled to display the icon 606, as shown in (b) of FIG6 , the long side of the icon 606 is parallel to the boundary 6051, and the distance L between the icon 606 and the boundary 6051 is equal to (or greater than) the preset distance 2.

[0136] As shown in (c) of FIG6 , the HMI displays an icon 607 and a boundary 6051, and the boundary 6051 is a boundary of the area 605 (not shown in the figure). Exemplarily, the icon 607 can be displayed in response to the user dragging the icon 607 to the illustrated position; when the user releases the icon 607, if the distance L2 between the center point of the icon 607 and the boundary 5021 is less than or equal to the preset distance 1, and the angle θ between the short side of the icon 607 and the boundary 6051 is less than or equal to the preset angle 1, the HMI is controlled to display the icon 608, as shown in (d) of FIG6 , the short side of the icon 608 is parallel to the boundary 6051, and the distance L' between the icon 608 and the boundary 6051 is equal to (or greater than) the preset distance 2.

[0137] The method of determining the positions and postures of icon 606 and icon 608 may refer to the description in FIG. 5 , which will not be repeated here.

[0138] In some implementations, the obstacles around the area available for vehicle parking are arc-shaped obstacles, and the position and posture of icon 1 can be determined based on the tangent line of the outer edge of the obstacle.

[0139] As shown in (a) of FIG. 7 , the HMI displays an icon 701, an obstacle 702, and an area 703, and the obstacle 702 is located on one side of the area 703. Then, “determining a first area boundary of a first area” in S401 may include: taking a point on the outer edge of the obstacle 702 that is closest to the center point of the icon 701 as a tangent line 7031 of the outer edge of the obstacle 702, and the boundary 7031 is regarded as a boundary of the area 703. Exemplarily, in response to the user dragging the icon 701 to the illustrated position, the icon 701 can be displayed; when the user releases the icon 701, if the distance L1 between the center point of the icon 701 and the boundary 7031 is less than or equal to the preset distance 1, and the angle θ between the long side of the icon 701 and the boundary 7031 is less than or equal to the preset angle 1, the HMI is controlled to display the icon 704, as shown in (b) of FIG. 7, the long side of the icon 704 is parallel to the boundary 7031, and the distance L between the icon 704 and the boundary 7031 is equal to (or greater than) the preset distance 2.

[0140] The method of determining the position and posture of icon 704 can refer to the description of FIG. 5 , which will not be repeated here.

[0141] It should be noted that the above-mentioned icons 501, 505, 601, 607, and 701 can be understood as some examples of icon 2 in method 300, and the position of icon 2 in the HMI interface can be understood as some examples of position 1; the above-mentioned icons 504, 506, 606, 608, and 704 can be understood as some examples of icon 1 in method 300, and the position of icon 1 in the HMI interface can be understood as some examples of position 2; area 503, 605, and 703 can be understood as some examples of area 1 in method 300; boundary 5021, boundary 6051, and boundary 7031 can be understood as some examples of area boundary 1 in method 300; the long side of the icon 501 adjacent to the boundary 5021 and the short side of the icon 505 adjacent to the boundary 5021 can be understood as some examples of boundary 1.

[0142] In some implementations, the above-mentioned area 1 also includes area boundary 2, then the posture of icon 1 can be determined according to icon 2, area boundary 1 and area boundary 2, and the HMI interface can be controlled to display icon 1 in area 1.

[0143] Exemplarily, FIG8 shows a group of HMIs provided by an embodiment of the present application.

[0144] As shown in (a) of FIG8 , the HMI displays an icon 801, an obstacle 802, and an obstacle 803. The area between the boundary 8021 of the obstacle 802 and the boundary 8031 ​​of the obstacle 803 indicates an area available for parking a vehicle. The boundary 8021 is parallel to the boundary 8031, and the distance between the boundary 8021 and the boundary 8031 ​​is less than or equal to the preset distance 1. The straight line 804 is the perpendicular bisector of the line between the boundary 8021 and the boundary 8031. Exemplarily, the icon 801 may be displayed in response to the user dragging the icon 801 to the illustrated position; when the user releases the icon 801, if the center point of the icon 801 is located between the boundaries 8021 and 8031, or the distance L3 between the center point of the icon 801 and the straight line 804 is less than or equal to the preset distance 1, the HMI is controlled to display the icon 805, or the icon 806, or the icon 807. As shown in FIG8(b), the central axis parallel to the longer side of icon 805 coincides with straight line 804, and the distances between icon 805 and border 8021 and border 8031 ​​are both greater than or equal to the preset distance 2. As shown in FIG8(c), the central axis parallel to the longer side of icon 806 is parallel to straight line 804, and the distance L between icon 806 and border 8021 is equal to (or greater than) the preset distance 2. As shown in FIG8(d), the central axis of icon 806 is parallel to straight line 804, and the distance L between icon 806 and border 8031 ​​is equal to (or greater than) the preset distance 2.

[0145] Optionally, when it is detected that the center point of icon 801 is between boundary 8021 and boundary 8031, the control is to display icon 808 (not shown in the figure), the angle between the longer side of icon 808 and boundary 8021 is θ, and the shortest distance between icon 808 and boundary 8021 and the shortest distance between icon 808 and boundary 8031 ​​are both equal to (or greater than) the preset distance 2.

[0146] In some implementations, if the obstacles on opposite sides of the area available for parking are arc-shaped obstacles, the area boundary 2 can be determined according to the tangent of the outer edge of the obstacle, and then the HMI interface is controlled to display icon 1 according to icon 2, area boundary 1 and area boundary 2. Specifically, as shown in Figure 9:

[0147] As shown in (a) of FIG9 , the HMI displays an icon 901, an obstacle 902, and an obstacle 903, wherein the obstacle 902 has a longer boundary 9021, and the point of the obstacle 903 closest to the boundary 9021 can be used as a tangent to the obstacle 903, and the tangent is another boundary 904 indicating an area available for parking, and the straight line 905 is the perpendicular bisector of the line connecting the boundary 9021 and the boundary 904. Further, according to the icon 901, the boundary 9021, and the boundary 904, the HMI can be controlled to display an icon 906, as shown in (b) of FIG9 , the central axis parallel to the longer side of the icon 906 coincides with the straight line 905, and the distances between the icon 906 and the boundary 9021 and the boundary 904 are both greater than or equal to the preset distance 2.

[0148] As shown in (c) of FIG. 9 , the HMI displays icon 907, obstacle 903, and obstacles 908 to 910. Exemplarily, the icon 907 may be displayed in response to the user dragging the icon 907 to the illustrated position; when the user releases the icon 907, the boundary 911 and the boundary 912 are determined according to the two obstacles located on both sides of the icon 907 and closest to the center point of the icon 907, and the straight line 913 is the perpendicular bisector of the line connecting the boundary 911 and the boundary 912. Further, according to the icon 907, the boundary 911 and the boundary 912, the HMI may be controlled to display the icon 914, as shown in (d) of FIG. 9 , the central axis parallel to the longer side of the icon 914 coincides with the straight line 913, and the distances between the icon 914 and the boundary 911 and the boundary 912 are both greater than or equal to the preset distance 2.

[0149] In some implementations, if the boundaries formed by obstacles on both sides of the area available for vehicle parking are not parallel, the position of icon 1 can be determined based on only one side of the boundary, and then the HMI interface is controlled to display icon 1. Specifically, as shown in Figure 10:

[0150] As shown in (a) of FIG. 10 , the HMI displays an icon 1001, an obstacle 1002, and an obstacle 1003. The area between the obstacle 1002 and the obstacle 1003 indicates an area available for parking a vehicle, and the boundaries of the obstacle 1002 and the obstacle 1003 are not parallel. Exemplarily, the icon 1001 may be displayed in response to the user dragging the icon 1001 to the illustrated position; when the user releases the icon 1001, if the angle between the longer side of the icon 1001 and the boundary of the obstacle 1003 is smaller, the HMI is controlled to display the icon 1004. As shown in (b) of FIG. 10 , the longer side of the icon 1004 is parallel to the boundary of the obstacle 1003, and the distance L between the icon 1004 and the boundary of the obstacle 1003 is equal to (or greater than) the preset distance 2.

[0151] As shown in (c) of FIG10 , in response to the user dragging the icon 1005 to the illustrated position, the icon 1005 is displayed; when the user releases the icon 1005, if the distance between the center point of the icon 1005 and the boundary of the obstacle 1002 is smaller, the HMI is controlled to display the icon 1006. As shown in (d) of FIG10 , the longer side of the icon 1006 is parallel to the boundary of the obstacle 1002, and the distance L between the icon 1006 and the boundary of the obstacle 1002 is equal to (or greater than) the preset distance 2.

[0152] Optionally, the HMI interface can also be controlled to display icon 1 according to the double-sided boundary. Exemplarily, in response to the user dragging icon 1005 to the illustrated position, icon 1005 is displayed; when the user releases icon 1005, icon 1007 can also be controlled to be displayed between the boundary of obstacle 1002 and the boundary of obstacle 1003, as shown in (e) of FIG. 10 . The central axis parallel to the longer side of icon 1007 coincides with straight line 1008, and the distance between icon 1007 and the boundary of obstacle 1002, and the distance between icon 1007 and the boundary of obstacle 1002 are both equal to (or greater than) preset distance 2.

[0153] It should be noted that the above-mentioned icons 801, icon 901, icon 907, icon 1001, and icon 1005 can be understood as some examples of icon 2 in method 300, and the position of icon 2 in the HMI interface can be understood as some examples of position 1; the above-mentioned icons 805, icon 806, icon 807, icon 906, icon 914, icon 1004, icon 1006, and icon 1007 can be understood as some examples of icon 1 in method 300, and the position of icon 1 in the HMI interface can be understood as some examples of position 2; boundaries 8021, boundaries 9021, boundaries 911, and boundaries of obstacle 1002 can be understood as some examples of area boundary 1 in method 300; boundaries 831, boundaries 904, boundaries 912, and boundaries of obstacle 1003 can be understood as some examples of area boundary 2 in method 300; the area between the above-mentioned area boundary 1 and area boundary 2 can be understood as some examples of area 1 in method 300.

[0154] In some implementations, the first area is composed of a parking space image, and the HMI interface can be controlled to display icon 1 according to the operation shown in FIG8, that is, the two longer parking space lines in the parking space image are used as two area boundaries, thereby determining the position of icon 1 and controlling the HMI interface to display icon 1. Alternatively, the center point of icon 1 can be controlled to coincide with the center point of the parking space image, as shown in FIG11:

[0155] As shown in (a) of FIG. 11 , the HMI displays an icon 1101 and a parking space image 1103, wherein the center point of the icon 1101 is 1102, and the center point of the parking space image 1103 is 1104. Exemplarily, the icon 1101 may be displayed in response to a user dragging the icon 1101 to the illustrated position; when the user releases the icon 1101, if it is detected that the center point 1104 of the icon 1101 is located in the area indicated by the parking space image 1103, the HMI is controlled to display an icon 1105, as shown in (b) of FIG. 11 , the center point of the icon 1105 coincides with the center point of the parking space image 1103, and the central axis of the icon 1105 parallel to its longer side coincides with the central axis of the parking space image parallel to its longer side.

[0156] Optionally, the parking space image may be greatly distorted, and the distortion correction may be performed on icon 1 to match the parking space image. As shown in (c) of FIG. 11 , the distortion correction is performed on the icon indicating the target parking area, and then the HMI interface is controlled to display icon 1106, and the two longer borders of icon 1106 are parallel to the parking space line.

[0157] In some implementations, in response to the user's operation, the HMI interface is controlled to display icon 1, and the vehicle plans a movement path according to the target parking area indicated by icon 1. However, if there is an obstacle in the movement path that hinders the vehicle's travel, the target parking area can be re-determined according to the position of the obstacle, and the movement path can be re-planned. Furthermore, the HMI interface can also be controlled to display an icon indicating the re-determined target parking area, as shown in FIG12:

[0158] As shown in (a) of FIG. 12 , the HMI interface displays an icon 1201, an obstacle 1202, and an icon 1203 indicating the vehicle position. The vehicle plans a motion path 1205 according to the target parking position and target posture indicated by icon 1201, but there is an obstacle 1204 in the motion path that hinders the vehicle from traveling. The vehicle can then plan a motion path 1207 as shown in (b) of FIG. 12 according to the position of 1204, and can control the HMI interface to display an icon 1206 according to the path 1207.

[0159] It should be noted that the icons used to indicate parking areas shown in Figures 4 to 12 are only exemplary. In the specific implementation process, the icons indicating the parking areas can be two-dimensional icons (such as rectangles), or three-dimensional icons (such as cuboids), or icons in other forms.

[0160] FIG13 shows a schematic flow chart of a control method provided by an embodiment of the present application. The method 1300 may be executed by the vehicle 100 shown in FIG1 . More specifically, the method 1300 may be executed by the computing platform 150 in the vehicle 100 . Alternatively, the method 1300 may also be executed by the human-computer interaction module 220 and the posture adjustment and determination module 230 shown in FIG2 . Exemplarily, the method 1300 may include:

[0161] S1310, controlling the display device to display a first area, where the first area indicates an area available for vehicle parking.

[0162] Exemplarily, the display device includes the display device in the above embodiment, or the first interface may include the HMI interface in the above embodiment; or, it may also include the parking interaction interface in the above embodiment, for example, it may be a graphical user interface (GUI) of an automatic parking application.

[0163] Exemplarily, the first area may include the area 1 in the above embodiment. The first area may be an image or schematic diagram of an area that is actually available for parking a vehicle, and the area that is actually available for parking a vehicle may be determined based on obstacles and / or parking space lines.

[0164] In some possible implementations, the width of the area actually available for parking a vehicle is greater than or equal to a preset width, and the length of the area is greater than or equal to a preset length. For example, the preset width may be 2 meters, or may be the width of the vehicle, or may be other values; the preset length may be 5 meters, or may be the length of the vehicle, or may be other values.

[0165] In some possible implementations, when the actual area does not meet the above size conditions, the image or schematic diagram of the relevant area is not displayed.

[0166] S1320: Control the display device to display a first parking area according to the first instruction, where the first area includes the first parking area.

[0167] Exemplarily, the first instruction may be generated according to the preset operation of the user.

[0168] Exemplarily, the first parking area may include the area where the icon 2 in the above embodiment is located. The first parking area is not a preferred parking area, or the posture of the vehicle after parking in the first parking area is inconsistent with the target posture.

[0169] S1330: According to the first parking area and the first area boundary of the first area, control the display device to display a second parking area, wherein the first area includes the second parking area.

[0170] Exemplarily, the second docking area may include the area where the icon 1 in the above embodiment is located; the first area boundary may include the area boundary 1 in the above embodiment.

[0171] In some possible implementations, controlling the display device to display the second parking area includes: when the distance between a preset point of the first parking area and a boundary of the first area is less than or equal to a first distance threshold, controlling the display device to display the second parking area; and the distance between the second parking area and the boundary of the first area is greater than or equal to the second distance threshold.

[0172] Exemplarily, the first distance threshold may be the preset distance 1 in the above embodiment, or may be other values.

[0173] Exemplarily, the second distance threshold may be the preset distance 2 in the above embodiment, or may be other values.

[0174] In some possible implementations, controlling the display device to display the second parking area includes: when an angle between the first area boundary and the first boundary of the first parking area is less than or equal to a first angle threshold, controlling a second boundary of the second parking area to be parallel to the first area boundary, the second boundary corresponding to the first boundary.

[0175] Illustratively, the second boundary may include boundary 1 in the above embodiment.

[0176] Exemplarily, the second boundary corresponds to the first boundary, including: the first boundary and the second boundary both indicate a first side of the vehicle.

[0177] For example, after the vehicle is parked in the area indicated by the first parking area and the area indicated by the second parking area, the first side of the vehicle is adjacent to the side indicated by the first boundary and the second boundary, respectively. The first side may be any of the left side, right side, front side, and rear side of the vehicle.

[0178] Exemplarily, the first angle threshold may be the preset angle 1 in the above embodiment, or may be other values.

[0179] In some possible implementations, the first area also includes a second area boundary, the second area boundary is parallel to the first area boundary, and the distance between the second area boundary and the first area boundary is less than or equal to a third distance threshold, and controlling the display device to display the second parking area includes: when a preset point of the first parking area is located between the first area boundary and the second area boundary, controlling the display device to display the second parking area according to the first parking area, the first area boundary and the second area boundary.

[0180] Exemplarily, the second region boundary may include the region boundary 2 in the above embodiment.

[0181] Exemplarily, the third distance threshold may be twice the width of the first parking area, or the third distance threshold may also be other values.

[0182] In some possible implementations, the controlling the display device to display the second docking area includes: when the distance between the preset point of the first docking area and the first reference line is less than or equal to a fourth distance threshold, controlling the closest distance between the second docking area and the boundary of the first area to be greater than or equal to a fifth distance threshold, and / or the closest distance between the second docking area and the boundary of the second area to be greater than or equal to the fifth distance threshold; wherein the first reference line is a perpendicular bisector of a line connecting the boundary of the first area and the boundary of the second area.

[0183] Exemplarily, the fourth distance threshold may be the preset distance 1 mentioned above; or may be other values, and the fourth distance threshold may also be a value converted according to the distance in the real world, for example, the fourth distance threshold may be determined according to the preset threshold 1. Exemplarily, the preset threshold 1 in the real world coordinate system is converted to the coordinate system displayed on the first interface to obtain the fourth distance threshold.

[0184] Exemplarily, the preset threshold 1 may be 0.3 meters, or 0.5 meters, or other values.

[0185] Exemplarily, the fifth distance threshold may be the preset distance 2 mentioned above; or it may be other values. For example, the fifth distance threshold may also be a value converted according to the distance in the real world. For example, the fifth distance threshold may be determined according to the preset threshold 2.

[0186] Exemplarily, the preset threshold 2 may be 0.3 meters, or 0.5 meters, or other values.

[0187] Optionally, a first central axis of the second parking area is parallel to the first reference line, and the first central axis indicates a position of a central axis of the vehicle.

[0188] Exemplarily, the first reference line may include the straight line 804, the straight line 905, and the straight line 913 in the above embodiments.

[0189] Optionally, the first central axis coincides with the first reference line.

[0190] In some possible implementations, controlling the display device to display the second parking area includes: controlling the display device to display a third parking area based on the first area boundary and the first parking area; and controlling the display device to display the second parking area when there is an obstacle in a first planned path, the first planned path being a path indicating that the vehicle travels from the current area to the third parking area.

[0191] Exemplarily, the third docking area may include the area where the icon 1201 in the above embodiment is located; the second docking area may include the area where the icon 1206 in the above embodiment is located.

[0192] Exemplarily, the first planned path may include the motion path 1205 in the above embodiment.

[0193] The control method provided in the embodiment of the present application can automatically adjust the position of the target parking area, which helps to reduce the complexity of user operations during remote parking, thereby improving the user experience. In addition, a variety of automatic adjustment methods are designed for different parking scenarios, which helps to improve the intelligence of the automatic parking system and the sense of technology felt by the user when using it.

[0194] In the various embodiments of the present application, unless otherwise specified or logically conflicting, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0195] The method provided by the embodiment of the present application is described in detail above in conjunction with Figures 1 to 13. The device provided by the embodiment of the present application will be described in detail below in conjunction with Figures 14 and 15. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment. Therefore, the content not described in detail can be referred to the method embodiment above, and for the sake of brevity, it will not be repeated here.

[0196] FIG. 14 shows a schematic block diagram of a control device 2000 provided in an embodiment of the present application. The device 2000 includes a first processing unit 2010 , a second processing unit 2020 , and a third processing unit 2030 .

[0197] The apparatus 2000 may include units for executing the method in Fig. 3. Moreover, each unit in the apparatus 2000 is for implementing a corresponding process of the method embodiment in Fig. 13.

[0198] More specifically, the first processing unit 2010 is used to: control the display device to display a first area, the first area indicating an area available for vehicle parking; the second processing unit 2020 is used to: control the display device to display a first parking area according to a first instruction, the first area including the first parking area; the third processing unit 2030 is used to: control the display device to display a second parking area according to a first area boundary of the first area and the first parking area, the first area including the second parking area.

[0199] In some possible implementations, the third processing unit 2030 is used to: control the display device to display the second parking area when the distance between the preset point of the first parking area and the boundary of the first area is less than or equal to a first distance threshold; the distance between the second parking area and the boundary of the first area is greater than or equal to a second distance threshold.

[0200] In some possible implementations, the third processing unit 2030 is used to: when the angle between the first area boundary and the first boundary of the first parking area is less than or equal to a first angle threshold, control the second boundary of the second parking area to be parallel to the first area boundary, and the second boundary corresponds to the first boundary.

[0201] In some possible implementations, the first area also includes a second area boundary, the second area boundary is parallel to the first area boundary, and the distance between the second area boundary and the first area boundary is less than or equal to a third distance threshold, and the third processing unit 2030 is used to: when the preset point of the first parking area is between the first area boundary and the second area boundary, control the display device to display the second parking area according to the first parking area, the first area boundary and the second area boundary.

[0202] In some possible implementations, the third processing unit 2030 is used to: when the distance between the preset point of the first parking area and the first reference line is less than or equal to a fourth distance threshold, control the closest distance between the second parking area and the boundary of the first area to be greater than or equal to a fifth distance threshold, and / or the closest distance between the second parking area and the boundary of the second area to be greater than or equal to the fifth distance threshold; wherein the first reference line is a perpendicular bisector of a line connecting the boundary of the first area and the boundary of the second area.

[0203] In some possible implementations, a first central axis of the second parking area is parallel to the first reference line, and the first central axis indicates the position of the central axis of the vehicle.

[0204] In some possible implementations, the first central axis coincides with the first reference line.

[0205] In some possible implementations, the third processing unit 2030 is used to: control the display device to display the third parking area based on the first area boundary and the first parking area; when there is an obstacle in the first planned path, control the display device to display the second parking area, and the first planned path is a path indicating the vehicle traveling from the current area to the third parking area.

[0206] In some possible implementations, the first area boundary is determined according to at least one of the following: a boundary of an obstacle, a tangent line of an outer edge of the obstacle, and a parking space line.

[0207] Exemplarily, the first processing unit 2010, the second processing unit 2020 and the third processing unit 2030 may be arranged in the vehicle 100 shown in FIG1, more specifically, the above-mentioned units may be arranged in the computing platform 150 shown in FIG1. ​​Exemplarily, the first processing unit 2010, the second processing unit 2020 and the third processing unit 2030 may also be arranged in the system shown in FIG2, more specifically, the first processing unit 2010, the second processing unit 2020 and the third processing unit 2030 may be arranged in the human-computer interaction module 220.

[0208] It should be understood that the division of the units in the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. In addition, the units in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of the units of the device, wherein the processor is, for example, a general-purpose processor, such as a CPU or a microprocessor, and the memory is a memory in the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units can be realized by designing the hardware circuits. The hardware circuit can be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units are realized by designing the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be implemented by PLD. Taking FPGA as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured through the configuration file, so as to realize the functions of some or all of the above units. All units of the above device may be implemented entirely in the form of a processor calling software, or entirely in the form of a hardware circuit, or partially in the form of a processor calling software and the rest in the form of a hardware circuit.

[0209] Each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0210] In addition, all or part of the units in the above device can be integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The type of the at least one processor may be different, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0211] In a specific implementation, the operations performed by the first processing unit 2010, the second processing unit 2020, and the third processing unit 2030 may be performed by one processor, or may be performed by different processors. In a specific implementation, the one or more processors may be processors provided in the computing platform 150 shown in FIG. 1 ; or the device 2000 may be a chip provided in the vehicle 100.

[0212] FIG15 is a schematic block diagram of a control device provided in an embodiment of the present application. The control device 2100 shown in FIG15 may include: a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, the transceiver 2120, and the memory 2130 are connected via an internal connection path, the memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the methods in the above-mentioned embodiments. Optionally, the memory 2130 can be coupled to the processor 2110 through an interface, or integrated with the processor 2110.

[0213] It should be noted that the transceiver 2120 may include but is not limited to a transceiver device such as an input / output interface to achieve communication between the device 2100 and other devices or a communication network.

[0214] The memory 2130 may be a read only memory (ROM), a static storage device, a dynamic storage device or a random access memory (RAM).

[0215] The transceiver 2120 uses a transceiver device such as but not limited to a transceiver to implement communication between the device 2100 and other devices or a communication network to receive / send data / information used to implement the methods in the above embodiments.

[0216] In a specific implementation process, the device 2100 may be arranged in the computing platform 150 shown in FIG. 1 .

[0217] An embodiment of the present application also provides a vehicle, which includes the above-mentioned device 2000 or the above-mentioned device 2100.

[0218] An embodiment of the present application further provides a computer program product, which includes a computer program code. When the computer program code runs on a computer, the computer implements the methods in the above embodiments of the present application.

[0219] An embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer implements the methods in the above embodiments of the present application.

[0220] An embodiment of the present application also provides a chip, including a circuit, for executing the methods in the above embodiments of the present application.

[0221] In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software. The method disclosed in conjunction with the embodiment of the present application can be directly embodied as a hardware processor for execution, or a combination of hardware and software modules in a processor for execution. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or a power-on erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it is not described in detail here.

[0222] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0223] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0224] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0225] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0226] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which 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

A control method, characterized in that: include: controlling the display device to display a first area, the first area indicating an area available for parking a vehicle; According to a first instruction, the display device is controlled to display a first parking area, wherein the first area includes the first parking area; and according to a first area boundary of the first area and the first parking area, the display device is controlled to display a second parking area, wherein the first area includes the second parking area. The method according to claim 1, characterized in that The controlling the display device to display the second parking area includes: when the distance between a preset point of the first parking area and the boundary of the first area is less than or equal to a first distance threshold, controlling the display device to display the second parking area; and the distance between the second parking area and the boundary of the first area is greater than or equal to the second distance threshold. The method according to claim 2, characterized in that The controlling the display device to display the second parking area includes: when an angle between the first area boundary and the first boundary of the first parking area is less than or equal to a first angle threshold, controlling a second boundary of the second parking area to be parallel to the first area boundary, and the second boundary corresponds to the first boundary. The method according to any one of claims 1 to 3, characterized in that The first area also includes a second area boundary, the second area boundary is parallel to the first area boundary, and the distance between the second area boundary and the first area boundary is less than or equal to a third distance threshold, and controlling the display device to display the second parking area includes: when a preset point of the first parking area is between the first area boundary and the second area boundary, controlling the display device to display the second parking area according to the first parking area, the first area boundary and the second area boundary. The method according to claim 4, characterized in that The controlling the display device to display the second parking area includes: when the distance between a preset point of the first parking area and the first reference line is less than or equal to a fourth distance threshold, controlling the closest distance between the second parking area and the first area boundary to be greater than or equal to a fifth distance threshold, and / or the closest distance between the second parking area and the second area boundary to be greater than or equal to the fifth distance threshold; wherein the first reference line is a perpendicular bisector of a line connecting the first area boundary and the second area boundary. The method according to claim 5, characterized in that A first central axis of the second parking area is parallel to the first reference line, or the first central axis coincides with the first reference line. The method according to any one of claims 1 to 6, characterized in that The controlling the display device to display the second parking area includes: controlling the display device to display a third parking area according to the first area boundary and the first parking area; and controlling the display device to display the second parking area when there is an obstacle in a first planned path, wherein the first planned path is a path indicating that the vehicle travels from the current area to the third parking area. The method according to any one of claims 1 to 7, characterized in that The first area boundary is determined according to at least one of the following: a boundary of an obstacle, a tangent line of an outer edge of the obstacle, and a parking space line. A control device, characterized in that: include: A first processing unit is used to: control the display device to display a first area, wherein the first area indicates an area available for vehicle parking; A second processing unit is configured to: control the display device to display a first parking area according to a first instruction, wherein the first area includes the first parking area; The third processing unit is configured to control the display device to display a second parking area according to a first area boundary of the first area and the first parking area, wherein the first area includes the second parking area. The device according to claim 9, characterized in that The third processing unit is used to: control the display device to display the second parking area when the distance between the preset point of the first parking area and the boundary of the first area is less than or equal to a first distance threshold; the distance between the second parking area and the boundary of the first area is greater than or equal to a second distance threshold. The device according to claim 10, characterized in that The third processing unit is used to control a second boundary of the second parking area to be parallel to the first area boundary, so that the second boundary corresponds to the first boundary, when an angle between the first area boundary and the first boundary of the first parking area is less than or equal to a first angle threshold. The device according to any one of claims 9 to 11, characterized in that The first area also includes a second area boundary, the second area boundary is parallel to the first area boundary, and the distance between the second area boundary and the first area boundary is less than or equal to a third distance threshold, and the third processing unit is used to: when the preset point of the first parking area is between the first area boundary and the second area boundary, control the display device to display the second parking area according to the first parking area, the first area boundary and the second area boundary. The device according to claim 12, characterized in that The third processing unit is used to: when the distance between the preset point of the first parking area and the first reference line is less than or equal to a fourth distance threshold, control the closest distance between the second parking area and the first area boundary to be greater than or equal to a fifth distance threshold, and / or the closest distance between the second parking area and the second area boundary to be greater than or equal to the fifth distance threshold; wherein the first reference line is a perpendicular bisector of a line connecting the first area boundary and the second area boundary. The device according to claim 13, characterized in that A first central axis of the second parking area is parallel to the first reference line, or the first central axis coincides with the first reference line. The device according to any one of claims 9 to 14, characterized in that The third processing unit is used to: control the display device to display the third parking area according to the first area boundary and the first parking area; when there is an obstacle in the first planned path, control the display device to display the second parking area, and the first planned path is a path indicating that the vehicle travels from the current area to the third parking area. The device according to any one of claims 9 to 15, characterized in that The first area boundary is determined according to at least one of the following: a boundary of an obstacle, a tangent line of an outer edge of the obstacle, and a parking space line. A control device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute the computer program stored in the memory, so that the apparatus performs the method according to any one of claims 1 to 8. A vehicle, characterized in that Comprising a device as claimed in any one of claims 9 to 17. A computer-readable storage medium, characterized in that Instructions are stored thereon, and when the instructions are executed by a processor, the processor implements the method according to any one of claims 1 to 8. A chip, characterized in that: The chip comprises a circuit for executing the method according to any one of claims 1 to 8.

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