Control method, device and vehicle

Abstract

A control method, device and vehicle, the method comprising: controlling a display device to display a first region, the first region indicating a region available for parking of the vehicle; controlling the display device to display a first parking region in accordance with a first instruction, the first region comprising the first parking region; and controlling the display device to display a second parking region in accordance with a first region boundary of the first region and the first parking region, the first region comprising the second parking region. The technical solution of the present application can be applied to an intelligent vehicle or an electric vehicle, and can reduce the complexity of user operation in an automatic parking process, thereby helping to improve the user experience.

Description

Technical Field

[0001] This application relates to the field of intelligent vehicles, and more specifically, to a control method, device, and vehicle. Background Technology

[0002] Automated parking (AP) refers to the automatic parking of a vehicle, meaning that an autonomous driving system can semi-automatically or fully automatically help the user park the vehicle in a parking space. Automated parking can include automated parking assist (APA), remote parking assist (RPA), and automated valet parking (AVP), among others.

[0003] Current automatic parking systems determine the user-selected parking area based on the position of virtual icons on the parking interface, and then control the vehicle to park in that area. Normally, users can adjust the position of the virtual icons on the parking interface by dragging or dropping them. However, with current technology, when a user drags a virtual icon to the desired location on the parking interface, the icon's position may differ from the user's desired parking position. In this case, the user still needs to manually adjust the virtual icon's position, making the parking process more complex. Summary of the Invention

[0004] This application provides a control method, device, and vehicle that can reduce the complexity of user operation during automatic parking and help improve the user experience.

[0005] In a first aspect, a control method is provided, which can be executed by a vehicle; or by a computing platform of the vehicle; or by a chip or circuit for the vehicle; or by a mobile terminal associated with the vehicle, without specific limitation in this application.

[0006] The vehicles involved in this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment. For example, the vehicle is a vehicle in a broad sense, which can be a means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of this application do not specifically limit the type of vehicle.

[0007] 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 the first area boundary and the first parking area, the first area including the second parking area.

[0008] The above technical solution can automatically adjust the position of the vehicle's target parking area. When the icon of the parking area is detected to have been moved to a certain position (such as the first position) in the preset area of ​​the human-machine interface, the target parking area is displayed in the specific area. During remote parking, this helps to reduce the complexity of user operation and thus improve the user experience.

[0009] For example, the second parking area indicates the target parking area of ​​the vehicle and the target pose of the vehicle in the target parking area.

[0010] For example, a first parking area is displayed at a first position in a first area. The first instruction can be generated based on the user's preset operation. The preset operation may include, but is not limited to: long-pressing the first position on the first interface, long-pressing the icon or image indicating the vehicle position and dragging it to the first position, clicking the icon to create the button and then clicking the first position, or sliding the icon clockwise or counterclockwise to move it to the first position.

[0011] In conjunction with the first aspect, controlling the display device to display the second parking area includes: controlling the display device to display the second parking area 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; and controlling the display device to display the second parking area when the distance between the second parking area and the boundary of the first area is greater than or equal to the second distance threshold.

[0012] In some possible implementations, the distance between the second berthing area and the boundary of the first area includes at least one of the following: the shortest distance between the second berthing area and the boundary of the first area, and the distance between a preset point of the second berthing area and the boundary of the first area.

[0013] For example, when a set of boundaries of the second mooring area is parallel to the boundary of the first area, the closest distance between the second mooring area and the boundary of the first area is the distance between the nearest boundary of the second mooring area that is parallel to the boundary of the first area and the boundary of the first area; when no set of boundaries of the second mooring area is parallel to the boundary of the first area, the closest distance between the second mooring area and the boundary of the first area is the distance between the nearest vertex of the second mooring area that is parallel to the boundary of the first area and the boundary of the first area.

[0014] For example, the preset point of the first parking area may include the center point of the first parking area, or it 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 it may be other points in the second parking area.

[0015] In the above technical solution, when the distance between the preset point and the boundary of the first parking area is less than or equal to a preset threshold, the second parking area is displayed. This helps to improve the degree of matching between the target parking area and the parking area envisioned by the user, thereby improving the human-likeness 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 scraping against the boundary of the first area during parking, improving vehicle driving safety. 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, without restricting the attitude angle of the second parking area, helps to reduce the complexity of adjusting the pose of the target parking area.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, controlling the display device to display the second parking area includes: 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, controlling the second boundary of the second parking area to be parallel to the boundary of the first area, the second boundary corresponding to the first boundary.

[0017] 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 attitude 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 difficulty of operation for users. In addition, the above technical solution not only restricts the closest distance between the boundary of the second parking area and the boundary of the first area to be greater than or equal to a preset threshold, but also restricts the second boundary of the second parking area to be parallel to the boundary of the first area, which helps to improve the human-likeness of automatic parking. Furthermore, 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.

[0018] In conjunction with the first aspect, in some implementations of the first aspect, the first region further includes a second region boundary, the second region boundary being parallel to the first region boundary, and the distance between the second region boundary and the first region boundary being less than or equal to a third distance threshold. 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 region boundary and the second region boundary, controlling the display device to display the second parking area based on the first parking area, the first region boundary, and the second region boundary.

[0019] In the above technical solution, when the preset point of the first parking area is located between the boundary of the first area and the boundary of the second area, the second parking area is displayed in the first area (that is, between the boundary of the first area and the boundary of the second area). This eliminates the need for the user to move the center point of the first parking area or set it in the middle of the two boundaries of the first area, which helps to reduce the difficulty of operation for the user and further improve the user experience.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, controlling the display device to display the second parking area includes: when the distance between a preset point in the first parking area and a first reference line is less than or equal to a fourth distance threshold, controlling 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 the perpendicular bisector of the line connecting the boundary of the first area and the boundary of the second area.

[0021] For example, the fourth distance threshold and the first distance threshold can be the same value or they can be different values.

[0022] For example, the fifth distance threshold and the second distance threshold can be the same value or they can be different values.

[0023] For example, the central axis of the second parking area, which is parallel to its longer side, is parallel to the first reference line, or it may not be parallel.

[0024] In some possible implementations, the interface has multiple first areas. If a user accidentally releases the first parking area when dragging it between the two boundaries of a certain first area (not the area the user wants to park in), and the distance between the preset point of the first parking area and the first reference line of the first area is greater than a preset threshold, then the above technical solution will not control the display of the second parking area in the first area.

[0025] In the above technical solution, when the user drags the first parking area to the system preset area, controlling the first parking area to cover the position of the indicated target parking area (i.e., the second parking area) helps to reduce the probability of incorrect matching, thereby improving the user experience.

[0026] In conjunction with the first aspect, in some implementations of the first aspect, the first central axis of the second parking area is parallel to the first reference line.

[0027] For example, the first centerline indicates the location of the vehicle's centerline, and the second parking area includes two centerlines parallel to the longer and shorter sides of the second parking area, respectively. The first centerline can be a centerline parallel to the longer side of the second parking area.

[0028] In the above technical solution, the first central axis of the second parking area is parallel to the boundary of the first area, which facilitates the subsequent parking of the vehicle after it has entered the target parking area indicated by the icon; in addition, when there is another vehicle at the boundary of the first area, it can reduce the impact on the parking process of that other vehicle.

[0029] In conjunction with the first aspect, in some implementations of the first aspect, the first central axis coincides with the first reference line.

[0030] The above technical solution enables vehicles to be parked in the center of an area suitable for parking, without affecting the user's getting in and out of the vehicle, thus improving the user's driving experience.

[0031] In conjunction with the first aspect, in some implementations of the first aspect, controlling the display device to display the second parking area includes: controlling the display device to display a third parking area based on the boundary of the first area and the first parking area; and controlling the display device to display the second parking area when there is an obstacle in the first planned path, wherein the first planned path is a path that instructs the vehicle to travel from its current location to the third parking area.

[0032] In the above technical solution, the position of the target parking area can be adaptively adjusted according to the location 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 thus improve the user experience.

[0033] In conjunction with the first aspect, in some implementations of the first aspect, the boundary of the first region is determined according to at least one of the following: the boundary of the obstacle, the tangent of the outer edge of the obstacle, and the parking space line.

[0034] In the above technical solution, not only can the boundaries of the area that can be used for parking be determined based on the parking space lines, but also based on the location and shape of obstacles. This allows the vehicle to display icons or images of the areas that can be used for parking to the user in various scenarios, which helps to improve the compatibility of this solution in different scenarios and thus improve the user experience.

[0035] In a second aspect, a control device is provided, comprising: a first processing unit configured to: control a display device to display a first area, the first area indicating an area available for vehicle parking; a second processing unit configured to: control the display device to display a first parking area according to a first instruction, the first area including the first parking area; and a third processing unit 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, the first area displaying the second parking area.

[0036] In conjunction with the second aspect, in some 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; and when the distance between the second parking area and the boundary of the first area is greater than or equal to a second distance threshold.

[0037] In conjunction with the second aspect, in some implementations of the second aspect, the third processing unit is used to: control the second boundary of the second parking area to be parallel to the boundary of the first area when the included 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 included angle threshold, and the second boundary corresponds to the first boundary.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, the first area further includes a second area boundary, the second area boundary being parallel to the first area boundary, and the distance between the second area boundary and the first area boundary being less than or equal to a third distance threshold. The third processing unit is used to: when the preset point of the first parking area is located between the first area boundary and the second area boundary, control the display device to display the second parking area based on the first parking area, the first area boundary, and the second area boundary.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, the third processing unit is used to: control the nearest distance between the second parking area and the boundary of the first area to be greater than or equal to a fifth distance threshold 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, and / or the nearest distance between the second parking area and the boundary of the second area is greater than or equal to the fifth distance threshold; wherein, the first reference line is the perpendicular bisector of the line connecting the boundary of the first area and the boundary of the second area.

[0040] In conjunction with the second aspect, in some implementations of the second aspect, the first centerline of the second parking area is parallel to the first reference line, or the first centerline coincides with the first reference line.

[0041] In conjunction with the second aspect, in some implementations of the second aspect, the third processing unit is used to: control the display device to display a third parking area based on the first area boundary and the first parking area; and control the display device to display the second parking area when there is an obstacle in the first planned path, wherein the first planned path is a path that indicates the vehicle to travel from its current area to the third parking area.

[0042] In conjunction with the second aspect, in some implementations of the second aspect, the boundary of the first area is determined according to at least one of the following: the boundary of the obstacle, the tangent of the outer edge of the obstacle, and the parking space line.

[0043] Thirdly, 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, such that the device performs the method as described in any possible implementation of the first aspect.

[0044] Fourthly, a vehicle is provided that includes means as described in any possible implementation of the second or third aspect.

[0045] Fifthly, a computer program product is provided, comprising: computer program code, which, when executed on a computer, causes the computer to perform the method in any possible implementation of the first aspect.

[0046] It should be noted that the above-mentioned computer program code can be stored in whole or in part on the first storage medium, wherein the first storage medium can be packaged together with the processor or packaged separately from the processor.

[0047] In a sixth aspect, a computer-readable medium is provided, the computer-readable medium storing instructions that, when executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect.

[0048] In a seventh aspect, a chip is provided, the chip including circuitry for performing the method in any of the possible implementations of the first aspect described above. Attached Figure Description

[0049] Figure 1 This is a functional block diagram of a vehicle provided in an embodiment of this application;

[0050] Figure 2 This is a schematic diagram of the system architecture required for implementing the control method provided in the embodiments of this application;

[0051] Figure 3 This is a schematic flowchart of the control method provided in the embodiments of this application;

[0052] Figure 4 This is an HMI provided in the embodiments of this application;

[0053] Figure 5 This is yet another HMI provided in the embodiments of this application;

[0054] Figure 6 This is yet another HMI provided in the embodiments of this application;

[0055] Figure 7 This is yet another HMI provided in the embodiments of this application;

[0056] Figure 8 This is yet another HMI provided in the embodiments of this application;

[0057] Figure 9 This is yet another HMI provided in the embodiments of this application;

[0058] Figure 10 This is yet another HMI provided in the embodiments of this application;

[0059] Figure 11 This is yet another HMI provided in the embodiments of this application;

[0060] Figure 12 This is yet another HMI provided in the embodiments of this application;

[0061] Figure 13 This is another schematic flowchart of the control method provided in the embodiments of this application;

[0062] Figure 14 This is a schematic block diagram of a control device provided in an embodiment of this application;

[0063] Figure 15 This is another schematic block diagram of the control device provided in the embodiments of this application. Detailed Implementation

[0064] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In this application, "at least one" means one or more, and "more" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0065] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.

[0066] As mentioned above, under the current technological background, when a user drags a virtual icon to the corresponding position on 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 still needs to manually adjust the position of the virtual icon, which makes the operation of the user during the parking process more complicated.

[0067] In view of this, embodiments of this application provide a control method, device, and vehicle. When a user sets a virtual icon to a corresponding position on the parking interaction interface, the virtual icon's pose can be automatically adjusted according to the positional relationship between the virtual icon and the parking area boundary, thereby controlling the vehicle to park in the area indicated by the adjusted virtual icon. This helps reduce the complexity of user operation and improves the user experience.

[0068] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0069] Figure 1 This is a functional block diagram of a vehicle provided in an embodiment of this application. For example... Figure 1 As shown, the vehicle 100 may include a sensing system 120, a display device 130, and a computing platform 150. The sensing system 120 may include several sensors for sensing information about the environment surrounding the vehicle 100. For example, the sensing system 120 may include a positioning system, which may be a Global Positioning System (GPS), a BeiDou system, or another positioning system. As another example, the sensing system 120 may also include one or more of the following: an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0070] Some or all of the functions of vehicle 100 can be controlled by computing platform 150. Computing platform 150 may include processors 151 to 15n. A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement some or all of the functions of the aforementioned units. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory for storing instructions. Some or all of the processors 151 to 15n can call the instructions in the memory to implement the corresponding functions.

[0071] The in-cabin display devices 130 are mainly divided into two categories: the first is in-vehicle displays; the second is projection displays, such as head-up displays (HUDs). In-vehicle displays are physical displays and an important component of in-vehicle infotainment systems. Multiple displays can be installed in the cabin, such as digital instrument cluster displays and central control screens. In some possible implementations, one or more of the aforementioned in-vehicle displays can be human-machine interfaces (HMIs), for example, the central control screen can be an HMI. Head-up displays, also known as head-up display systems, are mainly used to display driving information such as speed and navigation on a display device in front of the driver (e.g., the windshield). This reduces driver eye movement time, avoids pupil changes caused by eye movement, and improves driving safety and comfort. HUDs include, for example, combiner-HUD (C-HUD) systems, windshield-HUD (W-HUD) systems, and augmented reality HUD (AR-HUD) systems.

[0072] Vehicle 100 may include an advanced driving assistance system (ADAS). ADAS utilizes various sensors on the vehicle (including but not limited to: lidar, millimeter-wave radar, camera devices, ultrasonic sensors, global positioning system, inertial measurement unit) to acquire information from the vehicle's surroundings, and analyzes and processes the acquired information to achieve functions such as obstacle perception, target recognition, vehicle positioning, path planning, and driver monitoring / alerts, thereby improving the safety, automation, and comfort of driving the vehicle.

[0073] Logically, an ADAS system generally includes three main functional modules: a perception module, a decision-making module, and an execution module. The perception module senses the environment around the vehicle through sensors and inputs corresponding real-time data to the decision-making processing center. The perception module mainly includes vehicle cameras, ultrasonic radar, millimeter-wave radar, and lidar. The decision-making module makes corresponding decisions based on the information obtained by the perception module using computing devices and algorithms. After receiving the decision signal from the decision-making module, the execution module takes corresponding actions, such as driving, changing lanes, steering, braking, and issuing warnings.

[0074] At different levels of autonomous driving (L0-L5), ADAS can achieve different levels of automated driving assistance based on artificial intelligence algorithms and information acquired by multiple sensors. The aforementioned autonomous driving levels (L0-L5) are based on the classification standards of the Society of Automotive Engineers (SAE). L0 is no automation; L1 is driver assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. At levels L1 to L3, the task of monitoring road conditions and reacting is jointly completed by the driver and the system, requiring the driver to take over dynamic driving tasks. At levels L4 and L5, the driver can completely transform into a passenger. Currently, the functions that ADAS can achieve mainly include, but are not limited to: adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, forward cross-traffic alert / braking, rear cross-traffic alert / braking, forward collision warning, lane departure warning, lane keeping assist, rear collision warning, traffic sign recognition, traffic jam assist, and highway assist. It should be understood that the various functions mentioned above can have specific modes at different levels of autonomous driving (L0-L5), with higher levels of autonomous driving corresponding to more intelligent modes. For example, automatic parking can include APA, RPA, and AVP. With APA, the driver does not need to operate the steering wheel but still needs to control the accelerator and brake from outside the vehicle; with RPA, the driver can remotely park the vehicle from outside using a terminal (e.g., a mobile phone); with AVP, the vehicle can park without a driver. In terms of corresponding autonomous driving levels, APA is approximately at Level 1, RPA is approximately at Level 2-L3, and AVP is approximately at Level 4.

[0075] In this embodiment, the display device 130 can display a parking area, and in response to the user's operation, a target area is initially determined. The computing platform 150 determines a target pose based on the target area and controls the vehicle's pose after parking in the target area to be the determined target pose.

[0076] Figure 2 A schematic diagram of the system architecture required for implementing the control method provided in this application embodiment is shown. The system 200 includes a sensing module 210, a human-computer interaction module 220, a pose adjustment and determination module 230, a planning and control module 240, and an actuator 250. Specifically:

[0077] The perception module 210 may include roadside units (RSUs) in the area where the vehicle is located, or it may include... Figure 1The perception system 120 shown includes one or more camera devices or one or more radar sensors for collecting environmental information about the area where the vehicle is located, such as parking line information and obstacle information. The perception module 210 can also process the collected environmental information to build a world model of roads, obstacles, etc., for downstream modules (such as the human-machine interaction module 220, the pose adjustment and determination module 230, and the planning and control module 240). For example, the perception module 210 can determine an area that can be used for vehicle parking based on obstacles and / or parking lines, and send the information of the area that can be used for vehicle parking to the human-machine interaction module 220.

[0078] The human-computer interaction module 220 may include Figure 1 One or more of the display devices 130 shown may include, for example, an HMI; or, the human-machine interface module 220 may also include a mobile terminal. The human-machine interface module 220 may display area 1, which may be an image or diagram of an area suitable for vehicle parking, or area 1 may be an icon indicating an area suitable for vehicle parking. The human-machine interface module 220 may display icon 1 in area 1 in response to a user's preset operation. This icon 1 indicates the target parking area of ​​the vehicle and the target pose of the vehicle in the target parking area; furthermore, the human-machine interface module 220 may send the pose information of icon 1 (including position and orientation information) to the planning and control module 240.

[0079] In some possible implementations, the pose information of icon 1 displayed by the human-computer interaction module 220 can be obtained from the pose adjustment and determination module 230. For example, the human-computer interaction module 220 can display icon 2 in area 1 in response to a user's preset operation, and the human-computer interaction module 220 can send the pose information of icon 2 to the pose adjustment and determination module 230. This is possible when the area indicated by icon 2 is not a preferred parking area, or when the vehicle's posture after parking in the area indicated by icon 2 is inconsistent with the target pose.

[0080] The pose adjustment and determination module 230 can provide... Figure 1 One or more processors in the computing platform 150 shown, or possibly a processor with Figure 1The vehicle 100 shown is associated with one or more processors in a cloud server. The pose adjustment and determination module 230 can determine the pose information of icon 1 based on the pose information of icon 2 and the boundary of region 1. In some possible implementations, the pose adjustment and determination module 230 can also determine the pose information of icon 1 based on obstacle information obtained from the perception module 210 and the planned path obtained from the planning and control module 240. Further, the pose adjustment and determination module 230 sends the pose information of icon 1 to the human-machine interaction module 220, so that the human-machine interaction module 220 displays icon 1 based on the pose information of icon 1. Alternatively, the pose adjustment and determination module 230 can also send the pose information of icon 1 to the planning and control module 240, so that the planning and control module 240 replans the motion path for the vehicle.

[0081] Planning and control module 240 can provide Figure 1 One or more processors in the computing platform 150 shown, or possibly a processor with Figure 1 One or more processors in the cloud server associated with the vehicle 100 shown are used to plan the movement path of the vehicle from its current location to the target parking area indicated by icon 1, and the vehicle's pose in the target parking area, based on the pose information of icon 1 sent by the human-machine interaction module 220 or the pose adjustment and determination module 230.

[0082] Furthermore, the planning and control module 240 calculates the corresponding control quantity based on the planned motion path and outputs the control quantity to the actuator 250.

[0083] When actuator 250 executes the control quantity, it controls the vehicle to travel along the planned motion path to the target area and to park in the target area according to the target pose. In some possible implementations, the actuator may include the steering and braking control system in vehicle 100.

[0084] It should be noted that the pose information of the above icon 1 may include the coordinates of the target parking area and the pose of the vehicle after entering the target parking area; or, the pose information of the above icon 1 may also include the relative coordinates and posture of icon 1 in the parking interaction interface, and the relative coordinates may be the coordinates of icon 1 relative to area 1.

[0085] In some possible implementations, the processor of system 200 can determine the coordinates of the target parking area and the vehicle's position after entering the target parking area based on the relative coordinates and posture of icon 1 on the parking interaction interface, and vice versa.

[0086] For example, the mobile terminal involved in the embodiments of this application may include various handheld devices (such as mobile phones), wearable devices, computing devices or other processing devices connected to a wireless modem associated with the vehicle, as well as various forms of terminals, mobile stations, user equipment, etc.

[0087] It should be understood that the above module is only an example, and in actual applications, it may be added or removed as needed. For example, Figure 2 The system architecture shown may exclude the planning control module 240 and the actuator 250; or, Figure 2 In the system architecture shown, the pose adjustment and determination module 230 and the human-computer interaction module 220 can be merged into one module.

[0088] Figure 3 This illustration shows a schematic flowchart of a control method provided in an embodiment of this application. The method 300 can be... Figure 1 The method 400 is executed by the vehicle 100 shown, or more specifically, by the computing platform 150 within the vehicle 100; or the method 300 can also be executed by... Figure 2 The pose adjustment and determination module 230 shown is executed. For example, the method 300 may include:

[0089] S301, in response to the user's preset operation, determine the area boundary 1 of area 1 and the pose 1 of icon 2, the pose 1 indicating at least the position 1 of icon 2 in the HMI interface.

[0090] For example, area 1 may include area 1 in the above embodiments to indicate the actual area that can be used for parking; area boundary 1 may be the boundary of area 1 that is adjacent to the target parking area.

[0091] For example, before detecting a user's preset action, the HMI interface displays an icon or image indicating the vehicle's location and area 1. The preset action may include, but is not limited to:

[0092] (1) The user long-presses the icon or image indicating the vehicle's location, keeps their finger in contact with the screen, and slides to position 1 on the HMI interface. For example, when the user long-presses the icon or image indicating the vehicle's location, in response to the long-press operation, icon 2 is displayed at the location of the icon or image indicating the vehicle's location; further, in response to the user keeping their finger in contact with the screen and sliding to position 1, icon 2 is displayed at position 1. For example, the aforementioned "long press" can be a tap on the icon or image for a duration exceeding a first duration, which can be 1 second, 2 seconds, or other durations.

[0093] (2) Operation of long-pressing the blank area of ​​area 1. For example, in response to the user's operation of long-pressing the blank area of ​​area 1, icon 2 is displayed in the blank area, wherein the center point of icon 2 can be the position where the user long-presses, and the posture of icon 2 can be any posture, or it can be a posture preset by the system.

[0094] (3) The user clicks on a blank area in region 1 within a second time period after clicking the icon creation button. For example, in response to the user's action, icon 2 is displayed in the blank area. The center point of icon 2 can be the location clicked by the user, and the posture of icon 2 can be any posture or a system-preset posture. For example, the first time period can be 3 seconds, 5 seconds, or other durations.

[0095] In some possible implementations, the first instruction can also be generated based on the vehicle's position. 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. This icon 2 coincides with the current position of the vehicle.

[0096] For example, position 1 can indicate the position of the center point of icon 2, or it can indicate the positions of the four vertices of icon 2.

[0097] In some possible implementations, pose 1 indicates the position of the center point of icon 2 and the attitude angle of icon 2, which can indicate the angle between the boundary of icon 2 and the boundary of region 1.

[0098] In some possible implementations, the area boundary 1 can be determined based on at least one of the following: the boundary of the obstacle, the tangent of the outer edge of the obstacle, and the parking space line. Exemplarily, obstacles may include, but are not limited to: other traffic participants (such as vehicles, pedestrians, etc.), road or building infrastructure (such as streetlights, guardrails, parking lot pillars, etc.), and vegetation (such as shrubs, trees, etc.).

[0099] In one example, the obstacle includes a vehicle, so the area boundary 1 can be determined based on the vehicle's outer contour. In another example, when the obstacle includes a relatively regular, elongated obstacle such as bushes, the area boundary 1 can be determined based on the boundary of the elongated obstacle. In yet another example, when the obstacle includes an arc-shaped obstacle (such as a circular flower bed), the area boundary 1 can be determined based on the tangent of the obstacle's outer edge. In yet another example, when the obstacle includes multiple obstacles scattered in different locations, the area boundary 1 can be determined based on the distance between each obstacle and icon 1. For example, the area boundary 1 can be the line connecting the images or diagrams of the two obstacles closest to icon 1.

[0100] In some possible implementations, the distance between the center point of icon 1 indicated by position 1 and the area boundary 1 is less than or equal to a preset distance 1.

[0101] For example, the preset distance 1 can be a value converted from real-world distances, and can be determined according to the following formula:

[0102]

[0103] Where 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 can be 30°, or it can be other values; L can be determined based on the calibration distance in the real world. For example, if the calibration distance is 0.5 meters, L may be 1 centimeter when converted to the scale displayed on the HMI interface.

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

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

[0106] For example, the preset included angle 1 can be 30°, or 40°, or other values.

[0107] S302, based on pose 1 and region boundary 1, determine the pose of icon 1, the pose of icon 1 at least indicating the position 2 of icon 1 on the HMI interface.

[0108] In this context, icon 1 includes icon 1 in the above embodiments. Icon 1 indicates the target parking position and target pose of the vehicle. For example, the center point of icon 1 indicates the position of the vehicle's center point in the target parking area, and the central axis of icon 1, which is parallel to the longer side of icon 1, indicates the position of the vehicle's central axis in the target parking area.

[0109] For example, the pose of icon 1 can be determined based on the position of the center point of icon 2; or, the pose of icon 1 can be determined based on the position of the center point of icon 2 and the angle between the boundary of region 1 and the boundary of icon 2.

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

[0111] For example, the preset distance 2 can also be a value converted from real-world distances. For instance, the preset distance 2 can be determined based on the above-mentioned calibration distance, which can be understood as a safe distance to avoid the vehicle scraping against obstacles during parking.

[0112] It should be noted that when the central axis of icon 1 is parallel or perpendicular to the region boundary 1, the shortest distance between icon 1 and region boundary 1 is the distance between the nearest neighbor of icon 1 and region boundary 1 and 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 nearest vertex of icon 1 and region boundary 1 and region boundary 1.

[0113] For example, position 2 can indicate the position of the center point of icon 1 and the positions of the four vertices of icon 1; or, position 2 can indicate the position of the center point of icon 1 and the attitude angle of icon 1.

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

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

[0116] For example, when a user drags icon 2 to position 1 and holds it for a preset duration, the HMI interface displays icon 1 at position 1. For example, the preset duration can be 3 seconds, 5 seconds, or other durations.

[0117] The control method provided in this application can automatically adjust the position and orientation of the icon indicating the target parking area of ​​the vehicle. During remote parking, it helps to reduce the complexity of user operation and thus improve the user experience.

[0118] To help readers better understand this application, the following is combined with... Figures 4 to 12 The explanation of method 300 is as follows.

[0119] In some implementations, in response to a user dragging icon 2 to position 1 and releasing it (i.e., releasing their finger), when the distance between the center point of icon 2 and the area boundary 1 is less than or equal to a preset distance 1, the vehicle determines the position 2 of icon 1 based on the pose of icon 2 and the area boundary 1, and controls the HMI to display icon 2 at position 2. For example, as... Figure 4 As shown:

[0120] like Figure 4As shown in (a), the HMI interface of the vehicle's central control screen displays icon 401, obstacle 402, and area 403. Obstacle 402 is located on one side of area 403, and the boundary 4021 of obstacle 402 can be considered a boundary of area 403. Exemplarily, icon 401 can be displayed in response to a user dragging it to the indicated position; when the user releases icon 401, if the distance between the center point of icon 401 and boundary 4021 is less than or equal to a preset distance of 1, then the HMI interface is controlled to display icon 404, such as... Figure 4 As shown in (b), the nearest distance L between the icon 404 and the boundary 4021 is equal to (or greater than) the preset distance 2.

[0121] The pose of icon 404 can be considered as: icon 401 is translated towards the direction closer to boundary 4021.

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

[0123] The pose of icon 405 can be considered as: icon 404 is determined by rotating counterclockwise by an angle θ with the point closest to boundary 4021 as the rotation center.

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

[0125] In another example, such as Figure 4 As shown in (e), when a user clicks icon 404 and slides it clockwise, in response to this operation, the central control screen displays icon 406, as shown in the image. Figure 4 As shown in (f), the distance L between icon 406 and boundary 4021 is equal to (or greater than) the preset distance 2.

[0126] The pose of icon 406 can be considered 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 pose of icon 406 can 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 it towards the direction closer 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; region 403 can be understood as an example of region 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 region 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 a user dragging icon 2 to position 1 and releasing it (i.e., releasing their finger), when the distance between the center point of icon 2 and the boundary 1 of the region is less than or equal to a preset distance 1, and the angle between the boundary 1 of icon 2 and the boundary 1 of the region is less than or equal to a preset angle 1, the vehicle determines the position 2 of icon 1 based on the pose of icon 2 and the boundary 1 of the region, and controls the HMI to display icon 2 at position 2. For example, as... Figure 5 As shown:

[0130] like Figure 5 As shown in (a), the HMI interface of the vehicle's central control screen displays icon 501, obstacle 502, and area 503. Obstacle 502 is located on one side of area 503, and the boundary 5021 of obstacle 502 can be considered a boundary of area 503. Exemplarily, icon 501 can be displayed in response to a user dragging it to the indicated position. When the user releases icon 501, if the distance L1 between the center point of icon 501 and boundary 5021 is less than or equal to a preset distance 1, and the angle θ between the long side of icon 501 and boundary 5021 is less than or equal to a preset angle 1, then the HMI interface is controlled to display icon 504, such as... Figure 5 As shown in (b), 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 pose of icon 504 can be determined by: icon 501 rotating counterclockwise by an angle θ with its center point O as the rotation center, and then translating it in a direction closer to the boundary 5021; or, icon 501 rotating counterclockwise by an angle θ with its point O' closest to the boundary 5021 as the rotation center, and then translating it in a direction closer to the boundary 5021.

[0132] like Figure 5As shown in (c), the HMI interface of the vehicle's central control screen displays icon 505 and boundary 5021, which is a boundary of region 503 (not shown in the figure). Exemplarily, icon 505 can be displayed in response to a user dragging it to the illustrated position; when the user releases icon 505, if the distance L2 between the center point of icon 505 and boundary 5021 is less than or equal to a preset distance 1, and the angle θ between the short side of icon 505 and boundary 5021 is less than or equal to a preset angle 1, then the HMI interface is controlled to display icon 506, such as... Figure 5 As shown in (d), 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 pose of icon 506 can be determined by: icon 505 rotating clockwise by an angle θ with its center point as the rotation center, and then translating it in a direction away from boundary 5021; or icon 505 rotating clockwise by an angle θ with its point closest to boundary 5021 as the rotation center, and then translating it in a direction away from boundary 5021.

[0134] In some implementations, when the obstacles surrounding area 1 include multiple scattered obstacles and / or curved obstacles, the display of icon 1 on the HMI interface in response to a user's preset operation can be as follows: Figure 6 , Figure 7 As shown:

[0135] like Figure 6 As shown in (a), the HMI displays icon 601, obstacles 602 to 604, and region 605, with obstacles 602 to 604 located on one side of region 605. Therefore, "determine the region boundary 1 of region 1" in S301 can include: determining the boundary 6051 of region 605 based on the line connecting the outer edges of the two obstacles 602 and 604 closest to icon 601. Further, in response to a user dragging icon 601 to the indicated position, icon 601 can be displayed; when the user releases icon 601, if the distance L1 between the center point of icon 601 and boundary 6051 is less than or equal to a preset distance 1, and the angle θ between the long side of icon 601 and boundary 6051 is less than or equal to a preset angle 1, then the HMI is controlled to display icon 606, as shown. Figure 6 As shown in (b), 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] like Figure 6As shown in (c), the HMI displays icon 607 and boundary 6051, which is a boundary of region 605 (not shown in the figure). Exemplarily, icon 607 can be displayed in response to a user dragging it to the illustrated position; when the user releases icon 607, if the distance L2 between the center point of icon 607 and boundary 5021 is less than or equal to a preset distance 1, and the angle θ between the short side of icon 607 and boundary 6051 is less than or equal to a preset angle 1, then the HMI is controlled to display icon 608, as shown. Figure 6 As shown in (d), 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 for determining the pose of icons 606 and 608 can be found in [reference needed]. Figure 5 The details of the description will not be repeated here.

[0138] In some implementations, the obstacles around the area where the vehicle can be parked are arc-shaped obstacles, and the pose of Icon 1 can be determined based on the tangent of the outer edge of the obstacle.

[0139] like Figure 7 As shown in (a), the HMI displays icon 701, obstacle 702, and region 703, with obstacle 702 located on one side of region 703. Therefore, "determining the boundary of the first region" in S401 may include: drawing a tangent 7031 to the outer edge of obstacle 702 from the point on its outer edge closest to the center point of icon 701; this boundary 7031 is considered a boundary of region 703. For example, in response to a user dragging icon 701 to the illustrated position, icon 701 can be displayed; when the user releases icon 701, if the distance L1 between the center point of icon 701 and boundary 7031 is less than or equal to a preset distance 1, and the angle θ between the long side of icon 701 and boundary 7031 is less than or equal to a preset angle 1, then the HMI is controlled to display icon 704, such as... Figure 7 As shown in (b), 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 for determining the pose of icon 704 can be found in [reference needed]. Figure 5 The details of the description will not be repeated here.

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

[0142] In some implementations, the aforementioned region 1 also includes region boundary 2. The pose of icon 1 can be determined based on icon 2, region boundary 1, and region boundary 2, and the HMI interface can be controlled to display icon 1 in region 1.

[0143] For example, Figure 8 A set of HMIs provided in an embodiment of this application is shown.

[0144] like Figure 8 As shown in (a), the HMI displays icon 801, obstacle 802, and obstacle 803. The area between boundary 8021 of obstacle 802 and boundary 8031 ​​of obstacle 803 indicates an area suitable for vehicle parking. Boundary 8021 and boundary 8031 ​​are parallel, and the distance between boundary 8021 and boundary 8031 ​​is less than or equal to a preset distance 1. Line 804 is the perpendicular bisector of the line connecting boundary 8021 and boundary 8031. Exemplarily, icon 801 can be displayed in response to a user dragging it to the indicated position. When the user releases icon 801, if the center point of icon 801 is located between boundaries 8021 and 8031, or the distance L3 between the center point of icon 801 and line 804 is less than or equal to a preset distance 1, the HMI is controlled to display icon 805, or icon 806, or icon 807. Figure 8 As shown in (b), the central axis parallel to the longer side of icon 805 coincides with line 804, and the distances between icon 805 and boundaries 8021 and 8031 ​​are both greater than or equal to a preset distance of 2. Figure 8 As shown in (c), the central axis parallel to the longer side of icon 806 is parallel to line 804, and the distance L between icon 806 and boundary 8021 is equal to (or greater than) the preset distance 2. Figure 8As shown in (d), the central axis of the icon 806 is parallel to the straight line 804, and the distance L between the icon 806 and the boundary 8031 ​​is equal to (or greater than) the preset distance 2.

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

[0146] In some implementations, the obstacles on either side of the area suitable for vehicle parking are arc-shaped. In this case, area boundary 2 can be determined based on the tangent of the obstacle's outer edge. Then, the HMI interface can be controlled to display icon 1 based on icon 2, area boundary 1, and area boundary 2. Specifically, as shown... Figure 9 As shown:

[0147] like Figure 9 As shown in (a), the HMI displays icon 901, obstacle 902, and obstacle 903. Obstacle 902 has a longer boundary 9021. Therefore, the tangent line to obstacle 903, drawn from the point closest to boundary 9021, represents another boundary 904 indicating the usable parking area. Line 905 is the perpendicular bisector of the line connecting boundary 9021 and boundary 904. Furthermore, based on icon 901, boundary 9021, and boundary 904, the HMI can be controlled to display icon 906, as shown... Figure 9 As shown in (b), the central axis parallel to the longer side of icon 906 coincides with line 905, and the distance between icon 906 and boundary 9021 and boundary 904 is greater than or equal to the preset distance 2.

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

[0149] In some implementations, the boundaries formed by obstacles on both sides of the area suitable for vehicle parking are not parallel. In such cases, the pose of icon 1 can be determined based on only one boundary, thereby controlling the HMI interface to display icon 1. Specifically, as follows... Figure 10 As shown:

[0150] Figure 10 As shown in (a), the HMI displays icon 1001, obstacle 1002, and obstacle 1003. The area between obstacle 1002 and obstacle 1003 indicates an area suitable for vehicle parking. The boundaries of obstacle 1002 and obstacle 1003 are not parallel. Exemplarily, icon 1001 can be displayed in response to a user dragging it to the illustrated position; when the user releases icon 1001, if the angle between the longer side of icon 1001 and the boundary of obstacle 1003 is smaller, the HMI is controlled to display icon 1004. Figure 10 As shown in (b), 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] Figure 10 As shown in (c), in response to the user dragging icon 1005 to the indicated position, icon 1005 is displayed; when the user releases icon 1005, if the distance between the center point of icon 1005 and the boundary of obstacle 1002 is smaller, the HMI is controlled to display icon 1006. Figure 10 As shown in (d), 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 display icon 1 based on the dual boundaries. For example, icon 1005 is displayed in response to a user dragging it to the indicated position; when the user releases icon 1005, icon 1007 can also be displayed between the boundaries of obstacle 1002 and obstacle 1003, as shown. Figure 10 As shown in (e) in the diagram. The central axis parallel to the longer side of icon 1007 coincides with line 1008, and the distance between icon 1007 and the boundary of obstacle 1002, as well as the distance between icon 1007 and the boundary of obstacle 1002, are both equal to (or greater than) the preset distance 2.

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

[0154] In some implementations, the first area is composed of parking space images, which can then be determined based on... Figure 8 The HMI interface for operation control shown displays icon 1. This icon 1 is positioned and displayed on the HMI interface by using the two longest parking lines in the parking space image as the boundaries of two areas. Alternatively, the center point of icon 1 can be aligned with the center point of the parking space image, as shown below. Figure 11 As shown:

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

[0156] Optionally, if the parking space image may have significant distortion, distortion correction can be performed on icon 1 to match it with the parking space image. For example... Figure 11 As described in (c), distortion correction is performed on the icon indicating the target parking area, thereby controlling the HMI interface to display icon 1106, the two longer boundaries of which are parallel to the parking space line.

[0157] In some implementations, icon 1 is displayed on the HMI interface in response to user input, and the vehicle plans a path based on the target parking area indicated by icon 1. However, if an obstacle obstructs the vehicle's movement along the path, the target parking area can be redefined based on the obstacle's location, and the path can be replanned. Furthermore, the HMI interface can be controlled to display an icon indicating the redefined target parking area, specifically as follows: Figure 12 As shown:

[0158] like Figure 12 As shown in (a), the HMI interface displays icon 1201, obstacle 1202, and icon 1203 indicating the vehicle's position. The vehicle plans a movement path 1205 based on the target parking position and target pose indicated by icon 1201. However, an obstacle 1204 obstructs the vehicle's movement along this path. The vehicle can then plan a path based on the position of 1204 as follows: Figure 12 The motion path 1207 shown in (b) can be used to control the display of icon 1206 on the HMI interface according to the path 1207.

[0159] It should be noted that, Figures 4 to 12 The icons shown for indicating parking areas are merely illustrative examples. In actual implementation, the icons for indicating parking areas can be two-dimensional icons (e.g., rectangles), three-dimensional icons (e.g., cuboids), or other forms of icons.

[0160] Figure 13 This illustration shows a schematic flowchart of a control method provided in an embodiment of this application. The method 1300 can be... Figure 1 The method 1300 is executed by the vehicle 100 shown, and more specifically, it can be executed by the computing platform 150 within the vehicle 100; or it can also be executed by... Figure 2 The human-computer interaction module 220 and the pose adjustment and determination module 230 shown are executed. For example, the method 1300 may include:

[0161] S1310, the control display device displays a first area, which indicates an area that can be used for vehicle parking.

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

[0163] For example, the first area may include area 1 in the above embodiments. The first area may be an image or schematic diagram of an area that can actually be used for vehicle parking, which may be determined based on obstacles and / or parking lines.

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

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

[0166] S1320, according to the first instruction, the display device is controlled to display the first parking area, the first area includes the first parking area.

[0167] For example, the first instruction may be generated based on the user's preset operation.

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

[0169] S1330, based on the first parking area and the first area boundary of the first area, the control display device displays the second parking area, wherein the first area includes the second parking area.

[0170] For example, the second parking area may include the area where icon 1 is located in the above embodiments; the first area boundary may include area boundary 1 in the above embodiments.

[0171] In some possible implementations, the control display device displays the second parking area, including: 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, the control display device displays the second parking area; when 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] For example, the first distance threshold can be the preset distance 1 in the above embodiments, or it can be other values.

[0173] For example, the second distance threshold can be the preset distance 2 in the above embodiment, or it can be other values.

[0174] In some possible implementations, the control display device displays the second parking area, including: 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, controlling the second boundary of the second parking area to be parallel to the boundary of the first area, the second boundary corresponding to the first boundary.

[0175] For example, the second boundary may include boundary 1 in the above embodiments.

[0176] For example, the second boundary corresponds to the first boundary, including: both the first boundary and the second boundary 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 can be any one of the left, right, front, and rear sides of the vehicle.

[0178] For example, the first included angle threshold can be the preset included angle 1 in the above embodiment, or it can be other values.

[0179] In some possible implementations, the first area further includes a second area boundary, which 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. 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 based on the first parking area, the first area boundary, and the second area boundary.

[0180] For example, the second region boundary may include region boundary 2 in the above embodiments.

[0181] For example, the third distance threshold can be twice the width of the first parking area, or the third distance threshold can be other values.

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

[0183] For example, the fourth distance threshold can be the aforementioned preset distance 1; or it can be other values. The fourth distance threshold can also be a value converted from a distance in the real world, for example, the fourth distance threshold can be determined based on the preset threshold 1. For example, 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] For example, the preset threshold 1 can be 0.3 meters, or 0.5 meters, or other values.

[0185] For example, the fifth distance threshold can be the aforementioned preset distance 2; or it can be other values. For example, the fifth distance threshold can also be a value converted from the distance in the real world, such as the fifth distance threshold being determined according to the preset threshold 2.

[0186] For example, the preset threshold 2 can be 0.3 meters, or 0.5 meters, or other values.

[0187] Optionally, the first centerline of the second parking area is parallel to the first reference line, and the first centerline indicates the position of the vehicle's centerline.

[0188] For example, the first reference line may include straight line 804, straight line 905, and 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 boundary of the first area and the first parking area; and controlling the display device to display the second parking area when there are obstacles in the first planned path, wherein the first planned path is a path that instructs the vehicle to travel from its current location to the third parking area.

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

[0192] For example, the first planned path may include the motion path 1205 in the above embodiments.

[0193] The control method provided in this application can automatically adjust the position and posture of the target parking area, which helps reduce the complexity of user operation during remote parking and thus improves the user experience. Furthermore, the design of multiple automatic adjustment methods for different parking scenarios helps improve the intelligence level of the automatic parking system and the technological feel experienced by the user.

[0194] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0195] The above text combines Figures 1 to 13 The methods provided in the embodiments of this application are described in detail below. Figure 14 and Figure 15 The apparatus provided in the embodiments of this application is described in detail. It should be understood that the description of the apparatus embodiments corresponds to the description of the method embodiments. Therefore, for content not described in detail, please refer to the method embodiments above. For the sake of brevity, it will not be repeated here.

[0196] Figure 14 A schematic block diagram of a control device 2000 provided in an embodiment of this application is shown. The device 2000 includes a first processing unit 2010, a second processing unit 2020, and a third processing unit 2030.

[0197] The device 2000 may include methods for performing Figure 3 The unit in the method. Furthermore, each unit in the device 2000 is respectively for implementing... Figure 13 The corresponding flow of the method implementation in the example.

[0198] More specifically, the first processing unit 2010 is configured 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 configured to: control the display device to display a first parking area according to a first instruction, the first area including the first parking area; and the third processing unit 2030 is configured to: control the display device to display a second parking area according to the 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 configured 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; and when 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 configured to: control the second boundary of the second parking area to be parallel to the boundary of the first area 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, and the second boundary corresponds to the first boundary.

[0201] In some possible implementations, the first area also includes a second area boundary, which 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. The third processing unit 2030 is used to control the display device to display the second parking area when the preset point of the first parking area is located between the first area boundary and the second area boundary, based on the first parking area, the first area boundary, and the second area boundary.

[0202] In some possible implementations, the third processing unit 2030 is configured to: when the distance between a preset point in the first parking area and a first reference line is less than or equal to a fourth distance threshold, control the nearest 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 nearest 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 the perpendicular bisector of the line connecting the boundary of the first area and the boundary of the second area.

[0203] In some possible implementations, the first centerline of the second parking area is parallel to the first reference line, which indicates the location of the vehicle's centerline.

[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 configured to: control the display device to display a third parking area based on the first area boundary and the first parking area; and control the display device to display a second parking area when there are obstacles in the first planned path, wherein the first planned path is a path that instructs the vehicle to travel from its current location to the third parking area.

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

[0207] For example, the first processing unit 2010, the second processing unit 2020, and the third processing unit 2030 may be configured in Figure 1 In the vehicle 100 shown, more specifically, the aforementioned units can be arranged in... Figure 1 In the computing platform 150 shown. Exemplarily, the first processing unit 2010, the second processing unit 2020, and the third processing unit 2030 may also be configured in... Figure 2 In the system shown, more specifically, the first processing unit 2010, the second processing unit 2020, and the third processing unit 2030 can be located in the human-computer interaction module 220.

[0208] It should be understood that the division of units in the above device is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the device can be implemented by a processor calling software; for example, the device includes a processor connected to memory, which stores instructions. The processor calls the instructions stored in memory to implement any of the above methods or to implement the functions of each unit in the device. The processor can be, for example, a general-purpose processor, such as a CPU or microprocessor, and the memory can be internal or external to the device. Alternatively, the units in the device can be implemented as hardware circuits. The functions of some or all units can be implemented through the design of the hardware circuits, which 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 units are implemented through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a PLD, such as an FPGA, which can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files, thereby implementing the functions of some or all units. All units of the above devices can be implemented entirely through processor calling software, or entirely through hardware circuits, or partially through processor calling software with the remaining parts implemented through hardware circuits.

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

[0210] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together as 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 the units in the device. The at least one processor may be of different types, such as CPU and FPGA, CPU and artificial intelligence processor, CPU and GPU, etc.

[0211] In specific implementation, the operations performed by the first processing unit 2010, the second processing unit 2020, and the third processing unit 2030 can be executed by a single processor, or by different processors. In specific implementation, the aforementioned one or more processors can be configured to... Figure 1 The processor in the computing platform 150 shown; or, the device 2000 described above can be a chip disposed in the vehicle 100.

[0212] Figure 15 This is a schematic block diagram of the control device provided in the embodiments of this application. Figure 15 The control device 2100 shown may include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, transceiver 2120, and memory 2130 are connected via internal interconnection paths. The memory 2130 stores instructions, and the processor 2110 executes the instructions stored in the memory 2130 to implement the methods in the above embodiments. Optionally, the memory 2130 may be coupled to the processor 2110 via an interface or integrated with the processor 2110.

[0213] It should be noted that the transceiver 2120 mentioned above may include, but is not limited to, transceiver devices such as input / output interfaces, to realize communication between device 2100 and other devices or communication networks.

[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] Transceiver 2120 uses transceiver devices, such as but not limited to transceivers, to enable communication between device 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above embodiments.

[0216] In specific implementation, the device 2100 can be set at... Figure 1 The computing platform 150 shown.

[0217] This application also provides a vehicle that includes the above-described device 2000 or device 2100.

[0218] This application also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to implement the methods described in the above embodiments of this application.

[0219] This application also provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to implement the methods described in the above embodiments of this application.

[0220] This application also provides a chip, including circuitry, for performing the methods described in the above embodiments of this application.

[0221] In implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software. The method disclosed in the embodiments of this application can be directly implemented by a hardware processor, or by a combination of hardware and software modules within the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, power-on erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

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

[0223] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

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

[0225] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0226] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method, characterized in that, include: The control display device displays a first area, which indicates an area available for vehicle parking; The first instruction controls the display device to display a first parking area, the first area including the first parking area; When the distance between a preset point in the first parking area and the first boundary of the first area is less than or equal to a first distance threshold, the display device is controlled to display a second parking area, wherein the first area includes 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 a second distance threshold.

2. The method as described in claim 1, characterized in that, The control of the display device to display the second parking area includes: 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, the second boundary of the second parking area is controlled to be parallel to the boundary of the first area, and the second boundary corresponds to the first boundary.

3. The method as described in claim 1 or 2, characterized in that, The first area further includes a second area boundary, the second area boundary being parallel to the first area boundary, and the distance between the second area boundary and the first area boundary being less than or equal to a third distance threshold. Controlling the display device to display the second parking area includes: When a preset point in the first parking area is located between the boundary of the first area and the boundary of the second area, the display device is controlled to display the second parking area based on the first parking area, the boundary of the first area, and the boundary of the second area.

4. The method as described in claim 3, characterized in that, The control of the display device to display the second parking area includes: When the distance between the preset point of the first parking area and the first reference line is less than or equal to the fourth distance threshold, the nearest distance between the second parking area and the boundary of the first area is controlled to be greater than or equal to the fifth distance threshold, and / or the nearest distance between the second parking area and the boundary of the second area is greater than or equal to the fifth distance threshold; The first reference line is the perpendicular bisector of the line connecting the boundary of the first region and the boundary of the second region.

5. The method as described in claim 4, characterized in that, The first centerline of the second parking area is parallel to the first reference line, or the first centerline coincides with the first reference line.

6. The method as described in claim 1 or 2, characterized in that, The control of the display device to display the second parking area includes: Based on the boundary of the first area and the first parking area, control the display device to display the third parking area; When there are obstacles in the first planned path, the display device is controlled to display the second parking area, and the first planned path is a path that indicates the vehicle to travel from its current location to the third parking area.

7. The method as described in claim 1 or 2, characterized in that, The boundary of the first area is determined based on at least one of the following: the boundary of the obstacle, the tangent of the outer edge of the obstacle, and the parking space line.

8. A control device, characterized in that, include: The first processing unit is configured to: control the display device to display a first area, wherein the first area indicates an area available for vehicle parking; The 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 when the distance between a preset point in the first parking area and the first area boundary of the first area is less than or equal to a first distance threshold, wherein the first area includes the second parking area and the distance between the second parking area and the first area boundary is greater than or equal to the second distance threshold.

9. The apparatus as claimed in claim 8, characterized in that, The third processing unit is used for: 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, the second boundary of the second parking area is controlled to be parallel to the boundary of the first area, and the second boundary corresponds to the first boundary.

10. The apparatus as claimed in claim 8 or 9, characterized in that, The first region further includes a second region boundary, which is parallel to the first region boundary, and the distance between the second region boundary and the first region boundary is less than or equal to a third distance threshold. The third processing unit is used to: When a preset point in the first parking area is located between the boundary of the first area and the boundary of the second area, the display device is controlled to display the second parking area based on the first parking area, the boundary of the first area, and the boundary of the second area.

11. The apparatus as claimed in claim 10, characterized in that, The third processing unit is used for: When the distance between the preset point of the first parking area and the first reference line is less than or equal to the fourth distance threshold, the nearest distance between the second parking area and the boundary of the first area is controlled to be greater than or equal to the fifth distance threshold, and / or the nearest distance between the second parking area and the boundary of the second area is greater than or equal to the fifth distance threshold; The first reference line is the perpendicular bisector of the line connecting the boundary of the first region and the boundary of the second region.

12. The apparatus as claimed in claim 11, characterized in that, The first centerline of the second parking area is parallel to the first reference line, or the first centerline coincides with the first reference line.

13. The apparatus as claimed in claim 8 or 9, characterized in that, The third processing unit is used for: Based on the boundary of the first area and the first parking area, control the display device to display the third parking area; When there are obstacles in the first planned path, the display device is controlled to display the second parking area, and the first planned path is a path that indicates the vehicle to travel from its current location to the third parking area.

14. The apparatus as claimed in claim 8 or 9, characterized in that, The boundary of the first area is determined based on at least one of the following: the boundary of the obstacle, the tangent of the outer edge of the obstacle, and the parking space line.

15. A control device, characterized in that, include: Memory, used to store computer programs; A processor for executing a computer program stored in the memory to cause the apparatus to perform the method as described in any one of claims 1 to 7.

16. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 8 to 15.

17. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, cause the processor to implement the method as described in any one of claims 1 to 7.

18. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 7.

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