Automatic parking method, device, equipment and storage medium

Abstract

The present application discloses an automatic parking method, apparatus, device, and storage medium, relating to the field of intelligent parking technology. The method includes: detecting the vehicle's surrounding environment to obtain an environmental perception result; planning a parking path based on the environmental perception result to obtain an initial parking path; parking according to the initial parking path, confirming whether the vehicle's current position is the target parking position; when the vehicle's current position is the target parking position, confirming whether the vehicle meets the state machine jump condition; when confirming that the vehicle meets the state machine jump condition, updating the automatic parking mode and initial parking path, and completing automatic parking according to the updated automatic parking mode and the updated initial parking path. This method realizes dynamic adjustment of the parking mode and path according to the vehicle's current position and state during the automatic parking process, thereby improving the accuracy and automation of the parking process.

Description

Technical Field

[0001] The present application relates to the field of intelligent parking technology, and in particular to automatic parking, devices, equipment and storage media. Background Art

[0002] With the increasing popularity of intelligent driving technology, consumers have higher and higher requirements for the functions and performance of intelligent driving functions, especially intelligent parking systems. In the early days, intelligent parking systems mainly focused on realizing the functions of automatic parking and vehicle body straightening. With the advancement of technology, in the application scenario of valet parking function, users are not only concerned about the performance of the parking function, but also have higher requirements for the smoothness of the parking process. In the parking scenario of valet parking, after the automatic parking assistance (APA) completes parking, the vehicle speed often decreases, and then switches to the automatic valet parking (AVP) cruise and accelerates again. Due to the functional jump of the state machine, this process will produce a sense of frustration, which seriously affects the user's driving experience.

[0003] Conventional technology uses dynamic shifting to shorten the time required to shift between reverse (R) and forward (D) gears during parking maneuvers, reducing shift jerkiness and improving smoothness. However, conventional solutions focus solely on the APA parking process, ignoring the smoothness from APA completion to AVP cruising.

[0004] The above content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of this application is to provide an automatic parking method, device, equipment and storage medium, which aims to solve the technical problems of vehicle speed fluctuation and jerkiness caused by state machine jump when the vehicle switches to the automatic valet parking cruise stage after the automatic parking assisted parking is completed.

[0006] To achieve the above objectives, the present application proposes an automatic parking method, which includes:

[0007] Detect the vehicle's surroundings and obtain environmental perception results;

[0008] Planning a parking path according to the environmental perception result to obtain an initial parking path;

[0009] Parking according to the initial parking path, and confirming whether the current position of the vehicle is the target parking position;

[0010] When the current position of the vehicle is the target storage position, confirm whether the vehicle meets the state machine jump condition;

[0011] When it is confirmed that the vehicle meets the state machine jump condition, the automatic parking mode and the initial parking path are updated, and automatic parking is completed according to the updated automatic parking mode and the updated initial parking path.

[0012] In one embodiment, the automatic parking mode includes an automatic parking assist mode and an automatic valet parking cruise mode:

[0013] The step of updating the automatic parking mode and the initial parking path upon confirming that the vehicle meets the state machine jump condition, and completing the automatic parking according to the updated automatic parking mode and the updated initial parking path, includes:

[0014] When it is confirmed that the vehicle meets the state machine jump condition, updating the automatic parking assistance mode to the automatic valet parking cruise mode to obtain an initial automatic valet parking cruise mode;

[0015] Obtaining a target parking path based on the vehicle's current position and the initial parking path;

[0016] Obtaining a target automatic valet parking cruise mode according to the target parking path and the initial automatic valet parking cruise mode;

[0017] The vehicle is controlled to travel based on the target automatic valet parking cruise mode to complete automatic parking.

[0018] In one embodiment, the step of planning a parking path according to the environmental perception result to obtain an initial parking path includes:

[0019] According to the environmental perception results, the vehicle's current environmental information, vehicle control parameters, vehicle posture and target parking space information are obtained;

[0020] Generate a smooth parking path based on the vehicle's current environment information, the vehicle control parameters, the vehicle posture, the target parking space information, and a hybrid heuristic search strategy;

[0021] An initial parking path is obtained according to the vehicle control parameters, the current vehicle environment information, and the smooth parking path.

[0022] In one embodiment, the step of obtaining an initial parking path according to the vehicle control parameters, the current vehicle environment information, and the smooth parking path includes:

[0023] Obtaining vehicle geometric constraints according to the vehicle control parameters and the vehicle current environment information;

[0024] Path smoothing is performed according to the smoothed parking path and the vehicle geometric constraints to obtain an initial parking path.

[0025] In one embodiment, when the current position of the vehicle is the target storage position, the step of confirming whether the vehicle meets the state machine jump condition includes:

[0026] When the current position of the vehicle is the target storage position, obtaining vehicle shift information and vehicle current environment information;

[0027] When the vehicle shift information indicates that the reverse gear is switched to the parking gear, a state machine switching signal is generated;

[0028] According to the state machine switching signal and the current environment information of the vehicle, it is determined whether the vehicle meets the state machine jump condition.

[0029] In one embodiment, the step of parking according to the initial parking path and confirming whether the current position of the vehicle is the target parking position includes:

[0030] Obtain the target kneading library position according to the hybrid heuristic search algorithm;

[0031] Based on the target parking position, parking is performed according to the initial parking path and the automatic parking assistance mode, and the current position of the vehicle during the parking process is obtained;

[0032] According to the current position of the vehicle, it is confirmed whether the current position of the vehicle is the target storage position.

[0033] In one embodiment, the step of detecting the vehicle's surrounding environment and obtaining an environmental perception result includes:

[0034] Obtain parking space boundary information, vehicle information around the vehicle, obstacle information around the vehicle, pedestrian detection information, and lane line information based on on-board sensors;

[0035] An environmental perception result is obtained based on the parking space boundary information, the vehicle information around the vehicle, the obstacle information around the vehicle, the pedestrian detection information, and the lane line information.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes an automatic parking device, which includes: an environment perception module, which is used to detect the environment around the vehicle and obtain an environment perception result;

[0037] A path planning module, configured to plan a parking path according to the environmental perception result to obtain an initial parking path;

[0038] An automatic parking module is used to park the vehicle according to the initial parking path and confirm whether the current position of the vehicle is the target parking position;

[0039] A state confirmation module is used to confirm whether the vehicle meets the state machine jump condition when the current position of the vehicle is the target storage position;

[0040] The automatic parking module is further configured to update the automatic parking mode and the initial parking path when confirming that the vehicle meets the state machine jump condition, and complete automatic parking according to the updated automatic parking mode and the updated initial parking path.

[0041] In addition, to achieve the above-mentioned purpose, the present application also proposes an automatic parking device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the automatic parking method described above.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the automatic parking method described above are implemented.

[0043] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the steps of the automatic parking method described above.

[0044] One or more technical solutions proposed in this application have at least the following technical effects:

[0045] Due to the real-time detection of the vehicle's surroundings, acquisition and analysis of environmental perception results, the path planning can be dynamically adjusted in each parking stage to ensure that the vehicle can accurately track the target path at each step, and when the vehicle reaches the target parking position, it can accurately determine whether the state machine jump conditions are met. If the conditions are met, the system will update the automatic parking mode and path, thereby optimizing the parking process. Compared with existing technologies, dynamic path adjustment and state machine switching avoid the problems of path planning and state transition lag in existing technologies. Traditional technologies may cause the parking process to be not smooth or errors in path planning due to the failure of the state machine to switch in time when the vehicle approaches the target position. This solution ensures a seamless transition from the initial parking path to the target position through real-time response and update, effectively improving the smoothness, accuracy and automation of the parking process, thereby improving the user experience and enhancing the intelligence level of automatic parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0048] Figure 1 A flowchart of the first embodiment of the automatic parking method of this application is provided;

[0049] Figure 2 A flowchart of the second embodiment of the automatic parking method of this application is provided;

[0050] Figure 3 A schematic diagram of a simplified process of the automatic parking method provided in Example 2 of the present application;

[0051] Figure 4 This is a schematic diagram of the module structure of the automatic parking device according to an embodiment of the present application;

[0052] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the automatic parking method in the embodiment of the present application.

[0053] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0055] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0056] The main solution of the embodiment of the present application is: detecting the vehicle's surrounding environment to obtain an environmental perception result; planning a parking path according to the environmental perception result to obtain an initial parking path; parking according to the initial parking path to confirm whether the vehicle's current position is the target parking position; when the vehicle's current position is the target parking position, confirming whether the vehicle meets the state machine jump condition; when it is confirmed that the vehicle meets the state machine jump condition, updating the automatic parking mode and the initial parking path, and completing automatic parking according to the updated automatic parking mode and the updated initial parking path.

[0057] In this embodiment, for ease of description, the following description is based on the identification of the automatic parking device as the execution subject.

[0058] Because existing automated parking assisted systems experience speed fluctuations and jerks when switching to the automated valet parking cruise phase due to state machine transitions after completing parking, this application provides a solution. By utilizing real-time monitoring of the vehicle's surroundings, acquiring and analyzing environmental perception results, this solution dynamically adjusts path planning during each parking phase, ensuring the vehicle accurately tracks the target path at each step. When the vehicle reaches the target parking position, it accurately determines whether the state machine transition conditions have been met. If the conditions are met, the system updates the automated parking mode and path, thereby optimizing the parking process. Compared to existing technologies, dynamic path adjustment and state machine transitions avoid the path planning and state transition lags found in existing technologies. Conventional technologies can result in an uneven parking process or path planning errors due to the state machine's failure to switch in time when the vehicle approaches the target position. This solution, through real-time response and updates, ensures a seamless transition from the initial parking path to the target position, effectively improving the smoothness, accuracy, and automation of the parking process, thereby enhancing the user experience and the intelligence level of automated parking.

[0059] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device capable of implementing the above functions, such as an automatic parking device. The following uses the automatic parking device as an example to illustrate this embodiment and the following embodiments.

[0060] Based on this, the embodiment of the present application provides an automatic parking method, referring to Figure 1 , Figure 1 This is a flowchart of the first embodiment of the automatic parking method of the present application.

[0061] In this embodiment, the automatic parking method includes steps S10 to S50:

[0062] Step S10, detecting the vehicle's surrounding environment and obtaining an environmental perception result;

[0063] It should be noted that environmental perception results are data collected by sensors such as radar, cameras, and lidar. This data includes information about obstacles, pedestrians, lane markings, parking spaces, other vehicles, and more around the vehicle. Environmental perception results provide real-time spatial and object information for path planning and parking decisions.

[0064] As you can understand, vehicles use multiple sensors, such as radar, lidar, and cameras, to monitor their surroundings in real time. The data collected by these sensors includes information about obstacles, other vehicles, pedestrians, lane markings, and more. These perceptions provide crucial input for subsequent path planning, ensuring the vehicle can adapt to changes in the environment, avoid collisions, and ensure safe and smooth parking maneuvers.

[0065] Step S20: planning a parking path according to the environmental perception result to obtain an initial parking path;

[0066] It's important to note that the initial parking path is the path the vehicle takes from its current location to the target parking space. This path must avoid obstacles and consider the vehicle's kinematic constraints, such as turning radius and speed limits. The path planning algorithm uses this information to generate an appropriate route.

[0067] Furthermore, the vehicle's surroundings refer to all objects and features in the space around the vehicle that may affect parking. This includes information such as parking space boundaries, other vehicles, pedestrians, walls, pillars, lane markings, obstacles, and traffic signs. The accuracy of environmental perception directly impacts the reliability of parking path planning and vehicle safety.

[0068] As will be appreciated, based on the environmental perception results obtained in step S10, parking path planning begins. This path planning takes into account the vehicle's current position, the location of the target parking space, surrounding obstacles, and the vehicle's kinematic constraints, such as turning radius and acceleration. An algorithm generates an initial parking path that best suits the vehicle's driving style.

[0069] In a feasible implementation, step S20 may include steps S21 to S23:

[0070] Step S21, obtaining the vehicle's current environment information, vehicle control parameters, vehicle posture, and target parking space information based on the environment perception result;

[0071] It's important to note that the vehicle's current environment information refers to real-time data collected from the vehicle's current location and surroundings. This information includes surrounding obstacles, parking space layout, the distance to surrounding vehicles, and the location of pedestrians. This information directly impacts parking path planning and the smoothness of parking.

[0072] In addition, vehicle control parameters refer to various key physical parameters that affect vehicle movement, including steering angle, acceleration, maximum speed, braking distance, turning radius, etc.

[0073] Separately, vehicle pose refers to the vehicle's position and orientation relative to a reference coordinate system, such as a parking space or road. Typically consisting of the vehicle's coordinates and its orientation angle, vehicle pose is crucial for path planning because the vehicle's position and orientation determine how it approaches a parking space and how it turns.

[0074] Target parking space information also refers to the specific location and size of the vehicle's target parking space. This includes data such as the space's boundaries, the space's angle, and the space's position relative to the vehicle's current position. This information provides essential reference for planning parking routes.

[0075] It can be understood that based on the data obtained from environmental perception, the vehicle's current environmental information is comprehensively calculated and confirmed. Suppose the vehicle is preparing to enter an empty parking space. The sensors detect surrounding obstacles, lane lines, the distance to other vehicles, etc., and generate information about the vehicle's current environment. This information helps the system identify the layout of the parking lot and the distribution of obstacles, and provides basic data for subsequent path planning. At the same time, it is necessary to confirm vehicle control parameters and vehicle posture, identify target parking space information, and determine the target parking space the vehicle will enter.

[0076] Step S22, generating a smooth parking path based on the vehicle's current environment information, the vehicle control parameters, the vehicle posture, the target parking space information, and a hybrid heuristic search strategy;

[0077] It should be noted that the hybrid heuristic search strategy is a hybrid A* algorithm. The hybrid A* algorithm is a path planning algorithm that takes into account vehicle kinematic constraints such as turning radius, acceleration, and speed. It is suitable for parking path planning in complex environments. It achieves optimal path planning through steps such as discretizing the vehicle state space, defining a cost function, path search, path smoothing, and optimization.

[0078] In addition, a smooth parking path refers to a path from the current vehicle position to the target parking space planned by a hybrid heuristic search strategy. This path has fewer turns and sudden acceleration or deceleration, ensuring that the vehicle parks at a smooth speed and direction.

[0079] As can be understood, the hybrid A* algorithm generates a smooth parking path based on the vehicle's current environment information, control parameters, position, and target parking space information obtained in step S21. By identifying the target parking space and setting vehicle control parameters such as maximum steering angle and acceleration, the path planning algorithm ensures that the vehicle can smoothly enter the parking space without any abrupt changes.

[0080] Step S23 : obtaining an initial parking path according to the vehicle control parameters, the current vehicle environment information, and the smooth parking path.

[0081] It is understood that the aforementioned vehicle control parameters and current environmental information are used to adjust the parking path and ultimately obtain an initial parking path, which will serve as a reference path for the vehicle to perform parking operations.

[0082] In a feasible implementation, step S23 may include steps S231 to S232:

[0083] Step S231, obtaining vehicle geometric constraints based on the vehicle control parameters and the vehicle current environment information;

[0084] It should be noted that vehicle geometric constraints refer to the physical limitations imposed on a vehicle during driving. These limitations include vehicle size, turning radius, minimum speed, and steering capability. These geometric constraints influence vehicle path planning, ensuring that the planned path is adapted to the vehicle's actual dynamic capabilities.

[0085] It is understandable that in addition to considering the shortest path, path planning for parking also requires ensuring that the path complies with the vehicle's geometric constraints, namely, its kinematic constraints. Kinematic constraints primarily include turning radius. The vehicle's steering angle and minimum turning radius determine the curvature of the path. During path planning, the vehicle's turning radius should be greater than or equal to the minimum turning radius. Maximum acceleration and speed. When parking, the vehicle's acceleration and speed should be limited to avoid sudden acceleration or braking. These limitations must be considered during path planning to maintain smooth driving. Obstacle avoidance. Path planning requires considering the distance to surrounding obstacles to ensure the vehicle maintains a safe distance from surrounding obstacles, such as walls and other vehicles.

[0086] Step S232 : performing path smoothing processing according to the smoothed parking path and the vehicle geometric constraints to obtain an initial parking path.

[0087] Path smoothing, as it's understood, involves optimizing the generated path to eliminate jerky turns or unnatural changes in the path. The goal of path smoothing is to ensure the vehicle follows the path smoothly without causing unnecessary vibration or unsafe maneuvers due to path irregularities. This process typically relies on mathematical methods such as curve fitting and spline interpolation.

[0088] Furthermore, it will be appreciated that path smoothing is performed based on the smoothed parking path and the vehicle's geometric constraints to generate the initial parking path. Assuming the vehicle's geometric constraints are calculated in step S231, for example, the vehicle's minimum turning radius is 5 meters, the smoothed parking path is adjusted based on this constraint to ensure that each curve in the path meets the vehicle's turning capabilities.

[0089] For example, during the planning process, a path may pass through multiple curves with a turning radius that is too small, exceeding the vehicle's turning limit. Path smoothing is used to adjust the path's curves and increase the turning radius to ensure the path fits within the vehicle's geometric constraints.

[0090] Step S30, parking the vehicle according to the initial parking path, and confirming whether the current position of the vehicle is the target parking position;

[0091] It should be noted that the target parking position is a specific position that the vehicle must reach during the parking process. In this embodiment, it is the vehicle's final parking position, that is, the position the vehicle must reach after completing its final reverse maneuver or maneuver. Typically, this position marks the final stage of the vehicle entering or exiting the parking space.

[0092] As you can understand, the vehicle begins to follow the initial parking path and confirms whether its current position has reached the target parking position. When the vehicle's sensors detect that its current position is close to the boundary of the parking space, it will confirm the target parking position. The vehicle's goal is to park in the final adjusted position of the parking space, that is, to achieve the precise position required to complete parking.

[0093] In a feasible implementation, step S30 may include steps S31 to S33:

[0094] Step S31, obtaining the target kneading library position according to the hybrid heuristic search algorithm;

[0095] As you can understand, the hybrid heuristic search algorithm can determine the target parking position based on environmental information, vehicle control parameters, and path planning requirements. Assuming the vehicle's goal is to enter a standard parking space, the system uses the hybrid heuristic search algorithm to evaluate the optimal path and calculate the target parking position. This position is typically the most precise location where the vehicle should park after entering the space. After the vehicle reaches the target parking position via the planned path, final adjustments are made.

[0096] Step S32: Based on the target parking position, parking is performed according to the initial parking path and the automatic parking assistance mode, and the current position of the vehicle during the parking process is obtained;

[0097] It should be noted that Automated Parking Assistance (APA) is a control mode used by the vehicle during automated parking. It typically involves the vehicle performing automated parking maneuvers based on external sensor data without driver intervention. APA modes may include forward or reverse parking, adjusting control strategies based on the vehicle's current position and the target parking space.

[0098] Step S33: confirming whether the current position of the vehicle is the target storage position according to the current position of the vehicle.

[0099] It should be noted that the current position of the vehicle refers to the real-time monitoring of the vehicle's position through sensors and positioning systems to ensure that the vehicle travels according to the route and is accurately positioned when it reaches the target storage location.

[0100] As you can understand, the vehicle begins parking based on the target parking position and the initial parking path. Assuming the vehicle follows the initial parking path to the target parking space using the path planning system, the vehicle is automatically controlled in APA mode, and the system will update the vehicle's current position in real time based on the actual parking progress.

[0101] For example, when the vehicle reaches the last parking space, the vehicle maintains the APA state machine unchanged, that is, continues to execute the APA parking process.

[0102] Step S40, when the current position of the vehicle is the target storage position, confirming whether the vehicle meets the state machine jump condition;

[0103] It should be noted that the state machine jump condition refers to the standard by which the state machine switches from one operating mode to another operating mode when the vehicle meets certain preset conditions during the parking process.

[0104] As you can see, when the vehicle reaches the target parking space, it checks whether it meets the state machine transition conditions. After the vehicle completes final adjustments, it checks whether it meets the conditions for entering automated valet parking cruise mode, such as a ready parking space, no obstacles, and accurate vehicle position. If these conditions are met, the state machine transition is prepared.

[0105] In a feasible implementation, step S40 may include steps S41 to S43:

[0106] Step S41, when the current position of the vehicle is the target storage position, obtaining vehicle shift information and vehicle current environment information;

[0107] It should be noted that gear shift information refers to the vehicle's current gear shift status, which typically includes reverse gear (R), drive gear (D), and parking gear (P). During parking, the vehicle needs to shift from reverse gear to parking gear, or from other gears to a suitable gear for parking to ensure that the vehicle can be parked correctly.

[0108] As you can understand, as the vehicle approaches the target parking position, it will acquire current gear shift information and environmental information. For example, if the vehicle is reversing into a parking space, the system will acquire current gear shift information and simultaneously perceive the surrounding environment, such as whether the space ahead is clear of obstacles and whether there are any vehicles to the side. This information helps the system determine whether the vehicle can proceed with the next maneuver: shifting from reverse to park.

[0109] Step S42, when the vehicle shift information is a shift from reverse gear to parking gear, generating a state machine switching signal;

[0110] It should be noted that reverse gear refers to the gear in which the vehicle is moving in reverse (R gear). When parking, the vehicle is usually first engaged in reverse gear and then moved back until it approaches the desired parking space. Park gear refers to the gear in which the vehicle is parked and ready to move (P gear). Once the vehicle has completed the parking maneuver and is parked in the space, it is usually necessary to shift the vehicle into park gear to ensure that it is completely stationary.

[0111] In addition, the state machine switching signal is a signal that triggers the state change of the automatic parking system. When the vehicle switches from reverse gear to parking gear, the system will issue a state machine switching signal, indicating that the automatic parking mode needs to switch from one operating mode to another to perform the new operation.

[0112] It is understandable that when the system detects that the vehicle is shifting from reverse gear to parking gear, it generates a state machine switching signal, which indicates that the vehicle's state machine needs to switch from automatic parking assist mode to automatic valet parking mode, preparing to enter the next stage of parking operation.

[0113] Step S43: confirm whether the vehicle meets the state machine jump condition based on the state machine switching signal and the current environment information of the vehicle.

[0114] It is understood that the state machine switching signal and the vehicle's current environmental information can be used to confirm whether the jump conditions are met. For example, assuming that the vehicle has switched from reverse gear to parking gear, and the sensor confirms that the parking space is empty and the vehicle has been accurately parked in the parking space, the state machine jump conditions will be determined based on this information. If the vehicle's current position matches the target parking position and there are no obstacles around, the state machine switching signal will be confirmed and the system will trigger the mode switch. Otherwise, the vehicle may need to continue to adjust or wait for confirmation to ensure that parking is complete.

[0115] Step S50 : When it is confirmed that the vehicle meets the state machine jump condition, the automatic parking mode and the initial parking path are updated, and automatic parking is completed according to the updated automatic parking mode and the updated initial parking path.

[0116] It should be noted that the automated parking mode refers to the control strategy and method used by the vehicle during automated parking. Different modes may be adapted to different parking scenarios, such as automated parking assistance or Automated Valet Parking (AVP). Additionally, updating the initial parking path refers to replanning or adjusting the parking path based on new environmental information or changes in vehicle status during the parking process. This ensures that the vehicle can accurately follow the new path in dynamic environments.

[0117] It is understandable that when the vehicle confirms that it meets the state machine jump conditions, it will update the automatic parking mode and re-plan the path. The vehicle switches from APA mode to AVP mode, and the parking path needs to be updated to adapt to the new control mode. Path updating includes recalculating the vehicle's motion trajectory and steering angle, and ensuring that the vehicle completes parking according to the new path. The vehicle continues to perform parking operations under the new control mode until it is completely parked in the parking space. Through the state machine jump and path update, the vehicle can smoothly transition to the new operating mode and successfully complete the parking task. For example, after the vehicle completes APA parking, it meets the conditions for entering AVP mode. The system will automatically update the path and mode to allow the vehicle to continue parking until parking is completed.

[0118] In a feasible implementation, step S50 may include steps S51 to S54:

[0119] Step S51, when it is confirmed that the vehicle meets the state machine jump condition, updating the automatic parking assist mode to the automatic valet parking cruise mode to obtain an initial automatic valet parking cruise mode;

[0120] It should be noted that the automatic parking assist mode is an operating mode used by the vehicle during the parking process. The system usually provides assistance under the control of the driver to help the vehicle complete the parking task. In this mode, the vehicle performs actions such as reversing and steering, but the driver still intervenes in some operations. In addition, the automatic valet parking cruise mode means that the vehicle performs parking operations under complete autonomous control without the need for driver intervention. In this mode, the vehicle makes autonomous decisions based on sensor data and completes the parking task. This mode is usually used in more advanced autonomous driving systems, which can automatically complete the parking process without driver control. The initial automatic valet parking cruise mode indicates that the switching operation has just been performed and the automatic valet parking cruise mode of the remaining driving path has not yet been entered.

[0121] It can be understood that the vehicle has accurately reached the target parking location and there are no obstacles around. When the conditions are met, the system will update the automatic parking assistance mode to the automatic valet parking cruise mode. This means that the vehicle will transition from relying on the driver's assistance operation to fully autonomous parking control.

[0122] Step S52, obtaining a target parking path based on the current position of the vehicle and the initial parking path;

[0123] It should be noted that the target parking path refers to the planned route from the vehicle's current position to the target parking space, i.e., the remaining parking path plan. This path typically takes into account the vehicle's kinematic constraints and environmental changes to ensure the vehicle can park smoothly.

[0124] It is understood that the target parking path is generated based on the vehicle's current position and the initial parking path. Assume that the vehicle has transitioned from the APA mode to the AVP mode and has approached a parking space.

[0125] Step S53, obtaining a target automatic valet parking cruise mode according to the target parking path and the initial automatic valet parking cruise mode;

[0126] It's important to note that the target automated valet parking cruise mode refers to the final automated valet parking control mode adjusted and optimized based on the vehicle's current position, target parking path, and current parking environment. This mode takes into account the dynamic changes in the actual parking environment and ensures the vehicle can successfully complete the parking task through path adjustments.

[0127] As you can see, a target automated valet parking cruise mode is generated based on the target parking path and the initial automated valet parking cruise mode. This target mode adjusts the control strategy based on the vehicle's dynamic characteristics, changes in the target path, and real-time feedback from the surrounding environment. For example, if the vehicle encounters an obstacle during driving, the system may need to adjust the target mode to ensure the vehicle can circumvent the obstacle and smoothly enter the parking space.

[0128] Step S54: Control the vehicle to travel based on the target automatic valet parking cruise mode to complete automatic parking.

[0129] As you can understand, the Targeted Automatic Valet Parking Cruise mode controls vehicle movement to ensure the vehicle executes and completes the parking task according to the planned path. For example, in the final stages of parking, the vehicle's steering angle, acceleration, and other parameters are further fine-tuned according to the target mode to ensure smooth parking. Assuming the vehicle is already approaching a parking space, the Targeted Automatic Valet Parking Cruise mode automatically adjusts the vehicle's steering and speed to ensure smooth parking. If new obstacles are encountered, the control strategy is adjusted promptly to ensure safe parking.

[0130] This embodiment provides an automatic parking method. By using technical means such as environmental perception using on-board sensors, path planning using a hybrid heuristic search algorithm, and switching between automatic parking modes, the method solves the technical problems of path planning, environmental adaptability, and mode switching during the automatic parking process. It achieves the goal of accurately and safely completing automatic parking tasks in complex environments, improving parking accuracy, smoothness, and user experience, ensuring that the vehicle can complete parking operations autonomously and smoothly, and avoiding the risk of collision.

[0131] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 2 , step S10 of the automatic parking method further includes steps S11 to S12:

[0132] Step S11, obtaining parking space boundary information, vehicle information around the vehicle, obstacle information around the vehicle, pedestrian detection information, and lane line information based on the vehicle-mounted sensor;

[0133] It should be noted that on-board sensors are various sensing devices installed on vehicles, such as radar, laser radar (LIDAR), cameras, ultrasonic sensors, etc. On-board sensors are used to perceive the environment around the vehicle and transmit the sensed data to the system for processing, supporting functions such as automatic parking, collision warning, and autonomous driving.

[0134] Separately, parking space boundary information refers to the location of parking space boundaries, typically captured by sensors or vision systems. This information helps the system identify the space's dimensions, shape, and positioning relative to the vehicle, thereby determining whether the vehicle can successfully enter the space.

[0135] Additionally, vehicle information refers to data such as the position, speed, and relative direction of other vehicles adjacent to or around the vehicle, acquired through onboard sensors or environmental perception systems. This information is crucial for obstacle avoidance, path planning, and parking maneuvers, helping the system determine safe distances between vehicles.

[0136] Additionally, obstacle information around the vehicle refers to any obstacles around the vehicle that could impede driving or parking, including fixed obstacles like walls, pillars, and trees, as well as other dynamic obstacles. Sensors provide this information to the system to help determine whether there is a potential collision risk.

[0137] In addition, pedestrian detection information is information about the location, movement status, etc. of surrounding pedestrians obtained through sensors or visual systems.

[0138] Lane information refers to lane markings captured by the vehicle through sensors or vision systems. This includes information such as lane boundaries, lane direction, and whether the lane is widening or narrowing. Lane information is crucial for vehicle path planning, lane keeping, and automated parking.

[0139] As you can understand, vehicles use onboard sensors to obtain information about their surroundings, including information about parking space boundaries, surrounding vehicles, obstacles, pedestrians, and lane markings. Imagine a vehicle is performing an automated parking maneuver in a parking lot, and its sensors are collecting this information in real time. For example, the onboard sensors detect the boundaries of the parking space ahead, determining its size and shape. They also detect other nearby vehicles, possible obstacles like pillars or walls, and approaching pedestrians. Lane marking information helps the vehicle determine its route and direction during parking.

[0140] Step S12: Obtain an environmental perception result based on the parking space boundary information, the vehicle information around the vehicle, the obstacle information around the vehicle, the pedestrian detection information, and the lane line information.

[0141] It is understood that the various data collected in step S11, such as parking space boundary information, surrounding vehicle information, obstacle information, pedestrian information, and lane line information, are comprehensively processed to generate environmental perception results. This information helps the system understand the vehicle's environmental status, assess the safety of the surrounding space, and provide a basis for subsequent automatic parking path planning.

[0142] For example, consider a vehicle in a parking lot surrounded by other parked vehicles. Sensors identify the parking space's boundaries, detect obstacles, and identify pedestrians in front of the vehicle. This information is comprehensively analyzed to generate environmental perception results, clarifying the vehicle's relative position to the target parking space and potential surrounding hazards. This comprehensive data allows accurate judgments on whether the vehicle can enter the target space, whether there's a collision risk, and whether the parking path needs to be adjusted. Environmental perception results not only aid in path planning but also enable dynamic adjustments to parking strategies to avoid collisions and ensure a safe parking process.

[0143] This embodiment provides an automatic parking method. Through data collection and comprehensive processing technology of on-board sensors, it solves the problems of environmental perception accuracy and real-time performance during the automatic parking process. It achieves accurate perception of obstacles, pedestrians, lane lines and other information around the vehicle in complex environments, ensures the reliability and safety of parking path planning, effectively avoids collision risks, and optimizes the smoothness and safety of the parking process.

[0144] For example, to help understand the implementation process of the automatic parking method obtained by combining this embodiment with the above embodiment 1, please refer to Figure 3 , Figure 3 A brief flowchart of an automatic parking method is provided, specifically:

[0145] The system uses onboard sensors to perceive the surrounding environment and obtain environmental data such as obstacles, other vehicles, and lane markings. Based on these perceptions, the system then plans an exit route to ensure the vehicle can successfully exit the parking space. If this is not the last parking attempt, the system will continue the parking operation. If this is the last parking attempt, the system will check whether the state machine jump conditions are met. If so, the parking state machine will jump to automatic valet parking cruise mode. At this point, the vehicle will autonomously park according to the planned path until the vehicle is completely parked in the parking space.

[0146] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the automatic parking method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0147] This application also provides an automatic parking device, please refer to Figure 4 , the automatic parking device includes:

[0148] The environment perception module 10 is used to detect the vehicle's surrounding environment and obtain an environment perception result;

[0149] A path planning module 20 is configured to plan a parking path according to the environmental perception result to obtain an initial parking path;

[0150] The automatic parking module 30 is used to park the vehicle according to the initial parking path and confirm whether the current position of the vehicle is the target parking position;

[0151] A state confirmation module 40 is used to confirm whether the vehicle meets the state machine jump condition when the current position of the vehicle is the target storage position;

[0152] The automatic parking module 30 is further configured to update the automatic parking mode and the initial parking path when confirming that the vehicle meets the state machine jump condition, and complete automatic parking according to the updated automatic parking mode and the updated initial parking path.

[0153] The automatic parking device provided in this application, utilizing the automatic parking method of the aforementioned embodiment, can address the technical issues of vehicle speed fluctuation and jerking caused by state machine transitions when the vehicle switches to the automatic valet parking cruise phase after completing automatic parking assistance. Compared to the prior art, the beneficial effects of the automatic parking device provided in this application are the same as those of the automatic parking method provided in the aforementioned embodiment. Other technical features of the automatic parking device are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0154] In one embodiment, the automatic parking module 30 is further configured to, upon determining that the vehicle meets the state machine transition conditions, update the automatic parking assist mode to the automatic valet parking cruise mode to obtain an initial automatic valet parking cruise mode; obtain a target parking path based on the vehicle's current position and the initial parking path; obtain a target automatic valet parking cruise mode based on the target parking path and the initial automatic valet parking cruise mode; and control vehicle travel based on the target automatic valet parking cruise mode to complete automatic parking.

[0155] In one embodiment, the path planning module 20 is further configured to obtain the vehicle's current environmental information, vehicle control parameters, vehicle posture, and target parking space information based on environmental perception results; generate a smooth parking path based on the vehicle's current environmental information, the vehicle control parameters, the vehicle posture, the target parking space information, and a hybrid heuristic search strategy; and obtain an initial parking path based on the vehicle control parameters, the vehicle's current environmental information, and the smooth parking path.

[0156] In one embodiment, the path planning module 20 is further configured to obtain vehicle geometric constraints based on the vehicle control parameters and the vehicle's current environmental information; and perform path smoothing processing based on the smoothed parking path and the vehicle geometric constraints to obtain an initial parking path.

[0157] In one embodiment, the state confirmation module 40 is further used to obtain vehicle gear shifting information and vehicle current environmental information when the current position of the vehicle is the target storage position; generate a state machine switching signal when the vehicle gear shifting information is switching from reverse gear to parking gear; and confirm whether the vehicle meets the state machine jump conditions based on the state machine switching signal and the vehicle current environmental information.

[0158] In one embodiment, the automatic parking module 30 is further configured to obtain a target parking position based on a hybrid heuristic search algorithm; based on the target parking position, parking is performed according to the initial parking path and the automatic parking assistance mode, and the current position of the vehicle during the parking process is obtained; and based on the current position of the vehicle, confirm whether the current position of the vehicle is the target parking position.

[0159] In one embodiment, the environmental perception module 10 is further used to obtain parking space boundary information, vehicle information around the vehicle, obstacle information around the vehicle, pedestrian detection information and lane line information based on vehicle-mounted sensors; and obtain environmental perception results based on the parking space boundary information, vehicle information around the vehicle, obstacle information around the vehicle, pedestrian detection information and lane line information.

[0160] The present application provides an automatic parking device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the automatic parking method of the above-mentioned embodiment 1.

[0161] Reference below Figure 5 , which shows a schematic diagram of the structure of an automatic parking device suitable for implementing an embodiment of the present application. The automatic parking device in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The automatic parking device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0162] like Figure 5As shown, the automatic parking system may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the automatic parking system. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage device 1003 including, for example, a magnetic tape, hard disk, etc.; and communication device 1009. Communication device 1009 can allow the automatic parking device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows an automatic parking device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or provided instead.

[0163] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0164] The automatic parking system provided in this application, utilizing the automatic parking method of the aforementioned embodiment, can address the technical issues of vehicle speed fluctuation and jerking caused by state machine transitions when the vehicle switches to the automatic valet parking cruise phase after completing automated parking assistance. Compared to the prior art, the automatic parking system provided in this application achieves the same beneficial effects as the automatic parking method provided in the aforementioned embodiment. Other technical features of this automatic parking system are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0165] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0166] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0167] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer program) stored thereon, and the computer-readable program instructions are used to execute the automatic parking method in the above-mentioned embodiment.

[0168] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0169] The computer-readable storage medium may be included in the automatic parking device, or may exist independently without being incorporated into the automatic parking device.

[0170] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the automatic parking device, the automatic parking device: detects the vehicle's surrounding environment to obtain an environmental perception result; plans a parking path based on the environmental perception result to obtain an initial parking path; parks according to the initial parking path and confirms whether the vehicle's current position is the target parking position; when the vehicle's current position is the target parking position, confirms whether the vehicle meets the state machine jump condition; when it is confirmed that the vehicle meets the state machine jump condition, updates the automatic parking mode and the initial parking path, and completes automatic parking according to the updated automatic parking mode and the updated initial parking path.

[0171] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0172] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0173] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0174] The computer-readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned automated parking method. This computer-readable storage medium can address the technical issues of vehicle speed fluctuation and jerking caused by state machine transitions when the vehicle switches to the automated valet parking cruise phase after completing automated parking assistance. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the automated parking method provided in the aforementioned embodiments, and are not further elaborated here.

[0175] The present application also provides a computer program product, comprising a computer program, which implements the steps of the automatic parking method as described above when executed by a processor.

[0176] The computer program product provided in this application can address the technical issues of vehicle speed fluctuation and jerking caused by state machine transitions when the vehicle switches to the automated valet parking cruise phase after completing automated parking assistance. Compared to the prior art, the beneficial effects of the computer program product provided in this application are similar to those of the automated parking method provided in the aforementioned embodiments, and are not further elaborated here.

[0177] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. An automatic parking method, characterized in that: The method comprises: Detect the vehicle's surroundings and obtain environmental perception results; Planning a parking path according to the environmental perception result to obtain an initial parking path; Parking according to the initial parking path, and confirming whether the current position of the vehicle is the target parking position; When the current position of the vehicle is the target storage position, confirm whether the vehicle meets the state machine jump condition; When it is confirmed that the vehicle meets the state machine jump condition, the automatic parking mode and the initial parking path are updated, and automatic parking is completed according to the updated automatic parking mode and the updated initial parking path.

2. The method according to claim 1, wherein The automatic parking mode includes automatic parking assist mode and automatic valet parking cruise mode: The step of updating the automatic parking mode and the initial parking path upon confirming that the vehicle meets the state machine jump condition, and completing the automatic parking according to the updated automatic parking mode and the updated initial parking path, includes: When it is confirmed that the vehicle meets the state machine jump condition, updating the automatic parking assistance mode to the automatic valet parking cruise mode to obtain an initial automatic valet parking cruise mode; Obtaining a target parking path based on the vehicle's current position and the initial parking path; Obtaining a target automatic valet parking cruise mode according to the target parking path and the initial automatic valet parking cruise mode; The vehicle is controlled to travel based on the target automatic valet parking cruise mode to complete automatic parking.

3. The method according to claim 1, wherein The step of planning a parking path according to the environmental perception result to obtain an initial parking path includes: According to the environmental perception results, the vehicle's current environmental information, vehicle control parameters, vehicle posture and target parking space information are obtained; Generate a smooth parking path based on the vehicle's current environment information, the vehicle control parameters, the vehicle posture, the target parking space information, and a hybrid heuristic search strategy; An initial parking path is obtained according to the vehicle control parameters, the current vehicle environment information, and the smooth parking path.

4. The method according to claim 3, wherein The step of obtaining an initial parking path according to the vehicle control parameters, the current vehicle environment information, and the smooth parking path includes: Obtaining vehicle geometric constraints according to the vehicle control parameters and the vehicle current environment information; Path smoothing is performed according to the smoothed parking path and the vehicle geometric constraints to obtain an initial parking path.

5. The method according to claim 1, wherein When the current position of the vehicle is the target storage position, the step of confirming whether the vehicle meets the state machine jump condition includes: When the current position of the vehicle is the target storage position, obtaining vehicle shift information and vehicle current environment information; When the vehicle shift information indicates that the reverse gear is switched to the parking gear, a state machine switching signal is generated; According to the state machine switching signal and the current environment information of the vehicle, it is determined whether the vehicle meets the state machine jump condition.

6. The method according to claim 1, wherein The step of parking the vehicle according to the initial parking path and confirming whether the current position of the vehicle is the target parking position includes: Obtain the target kneading library position according to the hybrid heuristic search algorithm; Based on the target parking position, parking is performed according to the initial parking path and the automatic parking assistance mode, and the current position of the vehicle during the parking process is obtained; According to the current position of the vehicle, it is confirmed whether the current position of the vehicle is the target storage position.

7. The method according to claim 1, wherein The step of detecting the vehicle's surrounding environment and obtaining an environmental perception result includes: Obtain parking space boundary information, vehicle information around the vehicle, obstacle information around the vehicle, pedestrian detection information, and lane line information based on on-board sensors; An environmental perception result is obtained based on the parking space boundary information, the vehicle information around the vehicle, the obstacle information around the vehicle, the pedestrian detection information, and the lane line information.

8. An automatic parking device, characterized in that: The device comprises: Environmental perception module, used to detect the vehicle's surrounding environment and obtain environmental perception results; A path planning module, configured to plan a parking path according to the environmental perception result to obtain an initial parking path; An automatic parking module is used to park the vehicle according to the initial parking path and confirm whether the current position of the vehicle is the target parking position; A state confirmation module is used to confirm whether the vehicle meets the state machine jump condition when the current position of the vehicle is the target storage position; The automatic parking module is further configured to update the automatic parking mode and the initial parking path when confirming that the vehicle meets the state machine jump condition, and complete automatic parking according to the updated automatic parking mode and the updated initial parking path.

9. An automatic parking device, characterized in that: The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the automatic parking method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the automatic parking method according to any one of claims 1 to 7 are implemented.

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