Vehicle parking control method and device, electronic equipment and storage medium

Abstract

The invention relates to the field of vehicle intelligent control, in particular to a vehicle parking control method and device, electronic equipment and a storage medium. After the vehicle control instruction is received, the first driving system focuses on valet parking and automatic pick-up in the parking lot, and the efficiency and the success rate of a pick-up task in the parking lot are improved. After the first driving system completes the task, the handover evaluation state of the vehicle control right is detected, it is ensured that control right handover is conducted only when handover is ready, and the stability and reliability of the system are improved. The second driving system is responsible for automatic driving outside the parking lot, and seamless connection from the interior of the parking lot to the exterior of the parking lot is achieved. The clear system division of labor reduces the requirement for monitoring or taking over of a driver. The first driving system and the second driving system can automatically complete respective tasks, and a driver does not need to intervene in the process, so that completely unmanned operation is realized.

Description

Technical Field

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

[0002] With the development of vehicle assisted driving technology, people have higher requirements for vehicle intelligence, convenience and safety. As a popular parking assistance system, the valet parking system can provide drivers with the service of parking the vehicle in a parking space or driving from a parking space to a designated pick-up point. However, the current valet parking system generally requires the driver to monitor or even take over, which brings two problems. First, it reduces the efficiency and success rate of valet parking, which has a negative impact on the user experience; second, it cannot truly achieve a fully unmanned valet parking mode. Summary of the invention

[0003] In view of this, the embodiments of the present invention provide a vehicle parking control method, device, electronic device and storage medium to solve the problem that the existing valet parking system cannot achieve completely unmanned operation and requires the driver to monitor or take over, resulting in low valet parking efficiency and success rate, while affecting the user experience.

[0004] In a first aspect, an embodiment of the present invention provides a method for controlling vehicle parking, the method comprising:

[0005] When receiving a vehicle control instruction, executing a pick-up task in the parking lot through a first driving system of the vehicle, wherein the first driving system is used to control the vehicle to perform valet parking and automatic pick-up in the parking lot;

[0006] When the first driving system completes the on-site pick-up task, detecting the handover evaluation status of the current control right of the vehicle;

[0007] If the handover evaluation state is in the handover ready state, generating a corresponding identification signal according to the handover evaluation state;

[0008] Based on the identification signal, control of the vehicle is transferred to the second driving system of the vehicle, and the second driving system performs an off-site pick-up task based on a preset pick-up location, wherein the second driving system is used to control the automatic pick-up of the vehicle outside the parking lot.

[0009] Furthermore, the first driving system of the vehicle performs the on-site pick-up task in the parking lot, including:

[0010] Receiving a pick-up instruction sent by a user terminal associated with the vehicle;

[0011] In response to the pick-up instruction, obtaining map information of the parking lot and the current parking location of the vehicle, and planning a parking path from the parking location to the exit location of the parking lot based on the map information;

[0012] The on-site pick-up task is generated based on the parking path and the exit position, and the first driving system is called to control the vehicle to travel to the exit position according to the parking path indicated by the on-site pick-up task.

[0013] Furthermore, after the first driving system of the vehicle performs the on-site pick-up task in the parking lot, the method further includes:

[0014] monitoring whether a control takeover signal and a fault code signal sent by a vehicle domain controller in the first driving system are received;

[0015] If the control right takeover signal and the fault code signal are not received, then continuously monitoring whether there is an on-site parking completion signal sent by the vehicle domain controller, wherein the on-site parking completion signal is sent by the automatic valet parking controller to the vehicle domain controller after completing the on-site parking task number;

[0016] If there is an on-site parking completion signal sent by the vehicle domain controller, it is determined that the first driving system has completed the on-site pick-up task; or, if there is no on-site parking completion signal sent by the vehicle domain controller, it is determined that the first driving system has not completed the on-site pick-up task.

[0017] Furthermore, the method further comprises:

[0018] If the control right takeover signal and the fault code signal are received, the fault information causing the failure of the on-site parking task to be executed is determined according to the fault code signal;

[0019] The control right takeover signal is sent to the cloud and the fault information is sent to the user terminal, so that the cloud responds to the control right takeover signal and performs corresponding diagnosis and processing based on the control right takeover signal.

[0020] Furthermore, the detecting of the handover evaluation state of the current control right of the vehicle includes:

[0021] Detecting whether the vehicle currently exits the on-site automatic parking program to obtain a first detection result;

[0022] Detecting whether the vehicle is currently at an exit position of the parking lot to obtain a second detection result;

[0023] Detecting the current running condition of the vehicle to obtain a third detection result;

[0024] The first detection result, the second detection result, and the third detection result are analyzed to obtain the handover evaluation status.

[0025] Further, the analyzing the first test result, the second test result, and the third test result to obtain the handover evaluation status includes:

[0026] If the first detection result is that the vehicle successfully exits the on-site automatic parking program, the second detection result is that the vehicle is at the exit position of the parking lot, and the third detection result is that the vehicle has no faults and enters the ready state, then the handover evaluation state is determined to be the handover ready state;

[0027] If the first detection result is that the vehicle has not successfully exited the on-site automatic parking program, the second detection result is that the vehicle is not at the exit position of the parking lot, and the third detection result is that the vehicle is in a fault and / or has not entered the ready state, then the handover evaluation status is determined to be a handover not ready state.

[0028] Furthermore, the detecting whether the vehicle currently exits the on-site automatic parking program to obtain a first detection result includes:

[0029] Sending an exit instruction and a first cyclic heartbeat code for the on-site automatic parking program to the vehicle domain controller according to a preset number of times, so that the vehicle domain controller verifies the exit instruction and the first cyclic heartbeat code;

[0030] The exit result is obtained according to whether a confirmation signal fed back by the vehicle domain controller is received, wherein the confirmation signal is sent by the vehicle domain controller after the exit instructions received for a preset number of times and the first cycle heartbeat code are verified;

[0031] If a confirmation signal fed back by the vehicle domain controller is received, the first detection result is a successful exit from the in-venue automatic parking program; or, if a confirmation signal fed back by the vehicle domain controller is not received, the first detection result is an unsuccessful exit from the in-venue automatic parking program.

[0032] Further, the transferring the control right of the vehicle to the second driving system of the vehicle based on the identification signal includes:

[0033] Based on the identification signal, sending a takeover instruction and a second cyclic heartbeat code for the on-site automatic parking program to the vehicle domain controller according to a preset number of times, so that the vehicle domain controller verifies the takeover instruction and the second cyclic heartbeat code;

[0034] The exit result is obtained according to whether a confirmation signal fed back by the vehicle domain controller is received, wherein the confirmation signal is sent by the vehicle domain controller after the takeover instructions received for a preset number of times and the second cyclic heartbeat code are verified;

[0035] If a confirmation signal fed back by the vehicle domain controller is received, it is determined that the control right is successfully transferred to the second driving system; or, if a confirmation signal fed back by the vehicle domain controller is not received, it is determined that the control right is not successfully transferred to the second driving system.

[0036] Furthermore, after the second driving system performs the off-site pick-up task based on the preset pick-up location, the method further includes:

[0037] Monitoring whether there is an abnormal exit event when the second driving system performs an off-site pick-up task based on a preset pick-up location;

[0038] If there is an abnormal exit event, the fusion positioning information at the time of the abnormal exit event is recorded;

[0039] Perform a cold start based on the fused positioning information, and read the positioning status of the memory file to obtain a positioning result, wherein if the positioning status in the memory file is successful, the positioning result is the fused positioning information directly used as the positioning result; or, if the memory file does not exist or the positioning status is invalid, the positioning result is the positioning information obtained by executing the positioning matching process;

[0040] Perform a cold start initialization self-check process according to the positioning result, and determine whether the state machine module is triggered normally;

[0041] If the state machine module is triggered normally, a judgment is made based on the positioning results and the conditions for the related conditional reading function jump to determine whether to resume automatic execution of the off-site pick-up task.

[0042] In a second aspect, an embodiment of the present invention provides a vehicle parking control device, the device comprising:

[0043] a processing module, configured to, upon receiving a vehicle control instruction, execute a pick-up task in the parking lot through a first driving system of the vehicle, wherein the first driving system is configured to control the vehicle to perform valet parking and automatic pick-up in the parking lot;

[0044] A detection module, used for detecting the handover evaluation status of the current control right of the vehicle when the first driving system completes the on-site pick-up task;

[0045] A generating module, configured to generate a corresponding identification signal according to the handover evaluation state if the handover evaluation state is in a handover ready state;

[0046] An execution module is used to transfer the control of the vehicle to the second driving system of the vehicle based on the identification signal, and perform an off-site pick-up task based on a preset pick-up location through the second driving system, wherein the second driving system is used to control the automatic pick-up of the vehicle outside the parking lot.

[0047] In a third aspect, an embodiment of the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0048] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method of the first aspect or any corresponding embodiment thereof.

[0049] After receiving the vehicle control command, the first driving system of this application focuses on valet parking and automatic pick-up in the parking lot, improving the efficiency and success rate of the pick-up tasks in the parking lot. When the first driving system completes the task, it detects the handover evaluation status of the vehicle control right to ensure that the control right is transferred only when the handover is ready, thereby improving the stability and reliability of the system. The second driving system is responsible for automatic pick-up outside the parking lot, realizing a seamless connection from inside the parking lot to outside the parking lot. This clear division of labor in the system reduces the need for driver monitoring or taking over. The first driving system and the second driving system can automatically complete their respective tasks without the need for the driver to intervene in the process, thus realizing completely unmanned operation.

[0050] This application can accurately grasp the status of the vehicle's on-site pick-up task in real time by continuously monitoring the control takeover signal, fault code signal and on-site parking completion signal sent by the vehicle domain controller in the first driving system. If the control takeover signal and the fault code signal are not received, the on-site parking completion signal can be continuously monitored to promptly determine whether the first driving system has completed the on-site pick-up task, thereby ensuring that the system has a clear understanding of the task progress in order to make subsequent operational arrangements. If the control takeover signal and the fault code signal are received, the fault information that caused the failure of the on-site parking task can be quickly determined based on the fault code signal, and then the control takeover signal is sent to the cloud for the cloud to perform corresponding diagnostic processing, and the fault information is sent to the user terminal at the same time, so that the user can understand the situation, thereby improving the transparency of the system and the efficiency of fault handling. Such a solution helps to improve the reliability and stability of the valet parking system, reduce task interruptions and user troubles caused by uncertain factors, and improve the user experience.

[0051] This application can fully understand the status of the vehicle from multiple key angles by detecting whether the vehicle is currently exiting the automatic parking program in the field, whether it is at the exit position of the parking lot, and the current operation status of the vehicle. This helps to accurately judge the specific situation of the vehicle at different stages and provide an accurate basis for the subsequent handover evaluation. For the detection of exiting the automatic parking program in the field, the exit instruction and the first cycle heartbeat code are sent to the vehicle domain controller according to the preset number of times, so that the vehicle domain controller can perform verification to ensure that the successful exit is determined only when the confirmation signal is received, thereby improving the accuracy and reliability of the exit judgment. In determining the handover evaluation status, multiple test results are comprehensively considered to clarify the specific conditions of handover readiness and handover unreadiness. If the vehicle successfully exits the automatic parking program in the field, is at the exit position of the parking lot without fault and enters the ready state, it is determined to be in the handover ready state, which lays the foundation for the smooth transfer of control; otherwise, it is determined to be in the handover unready state, which is convenient for timely detection of problems and taking corresponding measures. During the control transfer process, the takeover instruction and the second cycle heartbeat code are sent to the vehicle domain controller for verification according to the preset number of times. The successful transfer of control is determined based on the confirmation signal, ensuring the stability and security of the control transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 is a flow chart of a method for controlling vehicle parking according to some embodiments of the present invention;

[0054] Figure 2 is a flowchart of the execution of valet parking according to some embodiments of the present invention;

[0055] Figure 3 is a flow chart of another method for controlling vehicle parking according to some embodiments of the present invention;

[0056] Figure 4 is a schematic diagram of a first driving system and a second driving system according to some embodiments of the present invention;

[0057] Figure 5 is a schematic diagram of control right switching according to some embodiments of the present invention;

[0058] Figure 6 is a schematic diagram of state machine jump according to some embodiments of the present invention;

[0059] Figure 7 is a structural block diagram of a parking control device according to an embodiment of the present invention;

[0060] Figure 8 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0062] According to an embodiment of the present invention, a vehicle parking control method, device, electronic device and storage medium are provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0063] In this embodiment, a method for controlling vehicle parking is provided. Figure 1 is a flow chart of a method for controlling vehicle parking according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0064] Step S101, when a vehicle control instruction is received, a first driving system of the vehicle is used to perform a pick-up task in the parking lot, wherein the first driving system is used to control the vehicle to perform valet parking and automatic pick-up in the parking lot.

[0065] In the embodiment of the present application, when the vehicle receives the vehicle control command, the first driving system of the vehicle (which can be compared to the system composed of the AVP-related functional modules in the parking lot) is immediately activated and starts to perform the on-site pick-up task in the parking lot. The system uses its own sensors, control algorithms, etc. to accurately control the vehicle to perform a series of actions such as parking out of the parking space and cruising in the parking lot, so as to realize valet parking and automatic pick-up operations in the complex environment of the parking lot, and ensure that the vehicle can smoothly arrive near the exit of the parking lot to prepare for the handover of control.

[0066] Step S102, when the first driving system completes the on-site pick-up task, it detects the handover evaluation status of the current control right of the vehicle.

[0067] In the embodiment of the present application, after the first driving system successfully completes the on-site pick-up task, such as completing the predetermined actions such as pick-up parking and pick-up cruising, it starts to detect the handover evaluation status of the current control of the vehicle. This detection process involves a comprehensive judgment of multiple conditions, including whether the vehicle has reached the exit of the parking lot, whether the first driving system has normally and completely completed the on-site pick-up function, whether the vehicle itself is in a trouble-free operating state, and whether the key systems of the vehicle are in a Ready state, etc. These conditions together constitute the basis for judging the handover evaluation status.

[0068] Step S103: if the handover evaluation state is in the handover ready state, a corresponding identification signal is generated according to the handover evaluation state.

[0069] In the embodiment of the present application, if the vehicle's handover assessment status is in the handover-ready state after detection, that is, the vehicle reaches the exit of the parking lot, the parking function in the lot is completed and exits normally, the vehicle has no faults and is in the Ready state, etc., all conditions are met. At this time, the relevant system of the vehicle (such as the first driving system or other modules coordinated therewith) will generate a series of corresponding identification signals according to this handover-ready state, such as the parking completion sign in the lot, the arrival at the parking lot exit sign, etc. These signals will serve as an important basis for the transfer of vehicle control and an information transmission carrier.

[0070] Step S104, transfer control of the vehicle to the second driving system of the vehicle based on the identification signal, and perform the off-site pick-up task based on the preset pick-up location through the second driving system, wherein the second driving system is used to control the automatic pick-up of the vehicle outside the parking lot.

[0071] In the embodiment of the present application, based on the generated identification signal, the control of the vehicle will be transferred from the first driving system to the second driving system of the vehicle (which can be compared to a system composed of off-site driving related functional modules). After receiving the control, the second driving system will use its own navigation, positioning, perception and control functions based on the preset pick-up location information to plan a reasonable driving route from the parking lot exit to the preset pick-up location, and control the vehicle to automatically drive in the road environment outside the parking lot, avoid obstacles, follow traffic rules, and finally arrive at the preset pick-up location safely and accurately, completing the off-site pick-up task.

[0072] After receiving the vehicle control command, the first driving system of this application focuses on valet parking and automatic pick-up in the parking lot, improving the efficiency and success rate of the pick-up tasks in the parking lot. When the first driving system completes the task, it detects the handover evaluation status of the vehicle control right to ensure that the control right is transferred only when the handover is ready, thereby improving the stability and reliability of the system. The second driving system is responsible for automatic pick-up outside the parking lot, realizing a seamless connection from inside the parking lot to outside the parking lot. This clear division of labor in the system reduces the need for driver monitoring or taking over. The first driving system and the second driving system can automatically complete their respective tasks without the need for the driver to intervene in the process, thus realizing completely unmanned operation.

[0073] In addition, the present application embodiment also provides a valet parking method, such as Figure 2 As shown, after the user enters the parking lot, the valet parking function is turned on. The valet parking controller starts working. After the user gets out of the car, he selects a parking space on the mobile phone APP and confirms to start valet parking.

[0074] After receiving the user's confirmation, the system cloud server generates a parking start instruction. TBOX receives the instruction from the system cloud server and issues a parking start instruction. The valet parking controller receives and parses the instruction, starts to control the vehicle parking, and records information such as the parking map ID, the floor where the vehicle is located, and the nearest elevator entrance: The valet parking controller receives and parses the instruction issued by TBOX, starts to control the vehicle parking operation, and records relevant parking information. The valet parking controller uploads the recorded parking information to the system cloud server. The system cloud server receives and stores the latest parking information uploaded by the valet parking controller.

[0075] Figure 3 is a flow chart of a method for controlling vehicle parking according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0076] Step S201, when a vehicle control instruction is received, a first driving system of the vehicle is used to perform a pick-up task in the parking lot, wherein the first driving system is used to control the vehicle to perform valet parking and automatic pick-up in the parking lot.

[0077] In the embodiment of the present application, the relationship between the first driving system and the second driving system is as follows: Figure 4As shown, the first driving system is usually responsible for valet parking and automatic pick-up tasks in the parking lot by AVP (Automated Valet Parking). During operation, the first driving system interacts with multiple system modules such as APP, E-AVP cloud, TBOX, ADC, AVP cloud, etc. For example, when a user issues a vehicle control command through a mobile phone APP, the relevant signal will be transmitted to the first driving system through modules such as E-AVP cloud, TBOX, ADC, etc., thereby starting the on-site pick-up task, including parking out of the parking space and cruising in the parking lot.

[0078] The second driving system is mainly responsible for the automatic pick-up task of the vehicle outside the parking lot. It also works in conjunction with the above-mentioned multiple system modules. When certain conditions are met, such as TBOX and the cloud establish normal communication, the vehicle is fault-free and in Ready state, etc., the second driving system will receive the vehicle control command from TBOX to start controlling the vehicle. In this process, the APP, E-AVP cloud, TBOX, ADC and other modules jointly provide the second driving system with key information such as the E-AVP function enable flag, the longitude and latitude of the parking lot entrance and exit, and the longitude and latitude of the user's get-off point, to ensure that the second driving system can accurately plan the driving route and safely drive the vehicle from the parking lot exit to the user's designated pick-up location. The interaction protocol between TBOX and ADC is as follows:

[0079]

[0080]

[0081]

[0082] Table 1-TBOX signaling protocol

[0083]

[0084]

[0085] Table 2-TBOX signaling protocol

[0086] In the embodiment of the present application, the first driving system of the vehicle performs the on-site pick-up task in the parking lot, including the following steps A1-A3:

[0087] Step A1, receiving a pick-up instruction sent by a user terminal associated with the vehicle.

[0088] Specifically, the first driving system of the vehicle is first in a state of waiting to receive instructions. When the user terminal associated with the vehicle (such as a mobile phone APP) issues a pick-up instruction, the first driving system accurately receives the instruction through the communication link established between the vehicle and the APP, thereby triggering the subsequent on-site pick-up task process to start. This is the starting signal for the entire on-site pick-up task.

[0089] Step A2, in response to the pick-up instruction, obtain the map information of the parking lot and the current parking location of the vehicle, and plan a parking route from the parking location to the exit position of the parking lot based on the map information.

[0090] Specifically, after receiving the pick-up instruction, the first driving system responds by interacting with the parking lot management system or pre-stored data to obtain detailed map information of the parking lot and determine the precise parking location of the vehicle in the parking lot. Then, using the built-in path planning algorithm, taking into account factors such as the layout of the parking lot, channel restrictions, and the parking conditions of other vehicles, the optimal parking path from the parking location to the exit location is planned with the exit location of the parking lot as the target, ensuring that the vehicle can drive to the exit safely and efficiently.

[0091] Step A3, generating an on-site pick-up task based on the parking path and the exit position, and calling the first driving system to control the vehicle to travel to the exit position according to the parking path indicated by the on-site pick-up task.

[0092] Specifically, based on the planned parking path and the determined exit location, the first driving system generates a complete set of instructions for the on-site pick-up task. Then, it calls its own vehicle control function module to accurately control the vehicle's steering, acceleration, deceleration and other actions according to the parking path indicated by the on-site pick-up task, so that the vehicle can drive smoothly along the planned path to the exit location. During the driving process, it will also monitor the surrounding environment in real time and perform necessary obstacle avoidance operations to ensure the smooth completion of the on-site pick-up task.

[0093] Step S202: When the first driving system completes the on-site pick-up task, it detects the handover evaluation status of the current control right of the vehicle.

[0094] In an embodiment of the present application, after the first driving system of the vehicle performs the on-site pick-up task in the parking lot, the method also includes: monitoring whether a control takeover signal and a fault code signal sent by the vehicle domain controller in the first driving system are received; if the control takeover signal and the fault code signal are not received, continuously monitoring whether there is an on-site parking completion signal sent by the vehicle domain controller, wherein the on-site parking completion signal is sent by the automatic valet parking controller to the vehicle domain controller after completing the on-site parking task; if there is an on-site parking completion signal sent by the vehicle domain controller, it is determined that the first driving system has completed the on-site pick-up task; or, if there is no on-site parking completion signal sent by the vehicle domain controller, it is determined that the first driving system has not completed the on-site pick-up task.

[0095] Specifically, the system starts the signal monitoring mechanism and monitors the signal from the vehicle domain controller in the first driving system. Focus on whether there is a control takeover signal (specific flag and Tran_of_Ctl_Flag is set to OX0001) and a fault code signal (including the corresponding specific fault information, see Table 3 for details) incoming, and maintain a high level of vigilance and continue to wait for the arrival of these two key signals to determine whether there is an abnormality in the vehicle control and whether there is corresponding fault details feedback. If the control takeover signal and the fault code signal are not received, continue to monitor whether there is an on-site parking completion signal sent by the vehicle domain controller.

[0096] Fault code information serial number Steering failure OX0001 Brake failure OX0002 Power failure OX0003 Gear failure OX0004 Sensor failure OX0005 Domain controller failure OX0006 Positioning failed OX0007 Temporary failure OX0008

[0097] Table 3 - Fault code table

[0098] If the control takeover signal and fault code signal sent by the vehicle domain controller are not detected during the continuous monitoring process, the system will not stop monitoring, but will continue to pay attention to whether another important signal - the on-site parking completion signal - is received. This on-site parking completion signal is sent to the vehicle domain controller by the automatic valet parking controller after successfully completing the on-site parking task. It indicates whether the on-site parking link has reached the expected completion status under normal procedures, so the system will patiently wait for the signal to appear to further confirm the progress of the on-site pick-up task.

[0099] When the system monitors the on-site parking completion signal sent by the vehicle domain controller, it means that the automatic valet parking controller has completed its on-site parking task as planned, and the entire on-site parking process has reached the preset completion node. It can be determined that the first driving system has successfully completed the on-site pick-up task, and the vehicle is ready to enter the subsequent corresponding process links, such as the next step that may involve the transfer of control rights.

[0100] If, during the continuous monitoring process, the on-site parking completion signal sent by the vehicle domain controller is never received, it means that the automatic valet parking controller has not yet completed the on-site parking task, and the on-site parking process is still in an unfinished state. Correspondingly, it can be determined that the first driving system has not yet completed the on-site pick-up task. It is possible that the on-site parking is still in progress or has encountered some obstacles that prevent it from being completed smoothly. At this time, it may be necessary to further investigate related issues to ensure that the on-site pick-up task can finally be successfully completed.

[0101] This application can accurately grasp the status of the vehicle's on-site pick-up task in real time by continuously monitoring the control takeover signal, fault code signal and on-site parking completion signal sent by the vehicle domain controller in the first driving system. If the control takeover signal and the fault code signal are not received, the on-site parking completion signal can be continuously monitored to promptly determine whether the first driving system has completed the on-site pick-up task, thereby ensuring that the system has a clear understanding of the task progress in order to make subsequent operational arrangements. If the control takeover signal and the fault code signal are received, the fault information that caused the failure of the on-site parking task can be quickly determined based on the fault code signal, and then the control takeover signal is sent to the cloud for the cloud to perform corresponding diagnostic processing, and the fault information is sent to the user terminal at the same time, so that the user can understand the situation, thereby improving the transparency of the system and the efficiency of fault handling. Such a solution helps to improve the reliability and stability of the valet parking system, reduce task interruptions and user troubles caused by uncertain factors, and improve the user experience.

[0102] Step S203: if the handover evaluation state is in the handover ready state, a corresponding identification signal is generated according to the handover evaluation state.

[0103] In the embodiment of the present application, detecting the handover evaluation state of the current control right of the vehicle includes the following steps B1-B4:

[0104] Step B1, detecting whether the vehicle currently exits the automatic parking program on the parking lot, and obtaining a first detection result.

[0105] Specifically, detecting whether the vehicle is currently exiting the automatic parking program on the site to obtain a first detection result includes: sending an exit instruction and a first cyclic heartbeat code for the automatic parking program on the site to the vehicle domain controller according to a preset number of times, so that the vehicle domain controller verifies the exit instruction and the first cyclic heartbeat code; obtaining an exit result based on whether a confirmation signal fed back by the vehicle domain controller is received, wherein the confirmation signal is sent by the vehicle domain controller after the verification of the preset number of exit instructions and the first cyclic heartbeat code received is passed; if a confirmation signal fed back by the vehicle domain controller is received, the first detection result is a successful exit from the automatic parking program on the site; or, if no confirmation signal fed back by the vehicle domain controller is received, the first detection result is an unsuccessful exit from the automatic parking program on the site.

[0106] In specific operations, an exit command is sent to the vehicle domain controller according to a preset number of times. The exit command carries information that informs the vehicle domain controller to end the automatic parking program in the field, and each time the exit command is sent, the corresponding first cycle heartbeat code is attached. The first cycle heartbeat code can help maintain the stability of the communication link with the vehicle domain controller, and it is also convenient for the vehicle domain controller to verify the integrity and validity of the information after receiving it, so as to determine whether the received exit command and the accompanying first cycle heartbeat code are accurate and reliable, and provide a basis for the subsequent decision whether to feedback the confirmation signal.

[0107] After sending information to the vehicle domain controller, it will enter the stage of waiting for feedback, listening to whether it can receive a confirmation signal from the vehicle domain controller. The confirmation signal is a specific flag information sent by the vehicle domain controller after it has strictly verified the exit command received for a preset number of times and the first cycle heartbeat code, and the verification result shows that all have passed. It means that the vehicle domain controller has recognized the exit command and other related information and agreed to the vehicle to exit the automatic parking program on the site. Therefore, the presence or absence of this confirmation signal becomes the key basis for judging whether the vehicle has successfully exited.

[0108] If during the waiting process, the confirmation signal fed back by the vehicle domain controller is successfully received, and the signal meets the requirements (it is a specific flag bit and the value is OX0001), it means that the vehicle domain controller has confirmed that the vehicle can exit the automatic parking program in the field, and the entire exit process is completed smoothly as expected. At this time, the corresponding first detection result is the successful exit from the automatic parking program in the field, and the subsequent vehicle can enter other corresponding process links or maintain the corresponding standby state, etc. On the contrary, if the system does not receive the confirmation signal fed back by the vehicle domain controller within the specified waiting time, it means that the vehicle domain controller may have found a problem with the exit instruction or the first cycle heartbeat code during the verification process, or did not recognize the exit operation for other reasons, and thus did not send a confirmation signal. In this case, it can be determined that the first detection result is that the automatic parking program in the field has not been successfully exited. At this time, it may be necessary to further investigate possible problems in the sending link, verification link, etc. to ensure that the vehicle can finally successfully exit the automatic parking program in the field.

[0109] As an example, the vehicle has completed the remote valet parking function, and TBOX begins to execute the process of exiting the vehicle control. TBOX sends a request to exit command to the ADC domain controller, and the value of the control signal RTO1_Flag is OX0001, and a 0-16 bit cyclic heartbeat code is sent at the same time. After receiving these signals, the ADC performs the first check to check whether the signal is complete and valid. Then, TBOX sends the exit control signal and cyclic heartbeat code again twice in a row. After receiving three consecutive signals, the ADC domain controller completes the continuous check to ensure the accuracy and consistency of the signal. When the ADC completes the check, it sends a confirmation exit signal Cfm_Exit_Flag to the TBOX end, and the value is OX0001. When TBOX receives this signal and the value meets the requirements, it means that the vehicle has exited the control normally and completed the entire exit control process after remote valet parking.

[0110] In an embodiment of the present application, the method also includes: if a control authority takeover signal and a fault code signal are received, determining the fault information that caused the failure of the on-site parking task according to the fault code signal; sending the control authority takeover signal to the cloud and sending the fault information to the user terminal, so that the cloud responds to the control authority takeover signal and performs corresponding diagnostic processing based on the control authority takeover signal.

[0111] Step B2, detecting whether the vehicle is currently at the exit position of the parking lot, and obtaining a second detection result.

[0112] Specifically, the vehicle's current precise geographic location information is obtained through the vehicle's onboard positioning system (such as a positioning module that integrates multi-source information such as satellite positioning and on-board sensors), and then the location information is compared and analyzed with the parking lot exit location information pre-stored in the system to determine whether the vehicle is currently located at the parking lot exit. After this complete detection and comparison process, the corresponding second detection result is finally obtained to clarify the vehicle's status at the parking lot exit.

[0113] Step B3, detecting the current running condition of the vehicle to obtain a third detection result.

[0114] Specifically, various sensors (such as speed sensors, steering angle sensors, brake sensors, etc.) and related operating status monitoring modules equipped on the vehicle are used to collect various data on the vehicle's current driving process in real time, such as whether the driving speed is normal, whether the steering operation is smooth, whether the braking system is in a good response state, etc. These collected data are comprehensively analyzed and judged to fully understand the current operating conditions of the vehicle. Through such a process, the third detection result is obtained, which provides a basis for subsequent further operational decisions on the vehicle's operating status.

[0115] Step B4, analyzing the first test result, the second test result and the third test result to obtain a handover evaluation status.

[0116] In an embodiment of the present application, the first detection result, the second detection result and the third detection result are analyzed to obtain the handover evaluation status, including: if the first detection result is that the vehicle successfully exits the automatic parking program on the site, the second detection result is that the vehicle is at the exit position of the parking lot, and the third detection result is that the vehicle has no faults and has entered the ready state, then the handover evaluation status is determined to be the handover ready state; if the first detection result is that the vehicle fails to successfully exit the automatic parking program on the site, the second detection result is that the vehicle is not at the exit position of the parking lot, and the third detection result is that the vehicle is faulty and / or has not entered the ready state, then the handover evaluation status is determined to be the handover not ready state.

[0117] like Figure 5 As shown, if the first detection result shows that the vehicle has successfully exited the automatic parking program on the site, and the second detection result shows that the vehicle is at the exit position of the parking lot, and the third detection result shows that the vehicle has no faults and has entered the ready state, if all three conditions are met, it can be determined that the handover evaluation status at this time is the handover ready state; if the first detection result shows that the vehicle has not successfully exited the automatic parking program on the site, or the second detection result shows that the vehicle is not at the exit position of the parking lot, or the third detection result shows that the vehicle is in a faulty state and / or has not entered the ready state, as long as any one or more of the above-mentioned situations that do not meet the requirements occur, then the handover evaluation status can be determined as the handover not ready state.

[0118] This application can fully understand the status of the vehicle from multiple key angles by detecting whether the vehicle is currently exiting the automatic parking program in the field, whether it is at the exit position of the parking lot, and the current operation status of the vehicle. This helps to accurately judge the specific situation of the vehicle at different stages and provide an accurate basis for the subsequent handover evaluation. For the detection of exiting the automatic parking program in the field, the exit instruction and the first cycle heartbeat code are sent to the vehicle domain controller according to the preset number of times, so that the vehicle domain controller can perform verification to ensure that the successful exit is determined only when the confirmation signal is received, thereby improving the accuracy and reliability of the exit judgment. In determining the handover evaluation status, multiple test results are comprehensively considered to clarify the specific conditions of handover readiness and handover unreadiness. If the vehicle successfully exits the automatic parking program in the field, is at the exit position of the parking lot without fault and enters the ready state, it is determined to be in the handover ready state, which lays the foundation for the smooth transfer of control; otherwise, it is determined to be in the handover unready state, which is convenient for timely detection of problems and taking corresponding measures. During the control transfer process, the takeover instruction and the second cycle heartbeat code are sent to the vehicle domain controller for verification according to the preset number of times. The successful transfer of control is determined based on the confirmation signal, ensuring the stability and security of the control transfer.

[0119] Step S204, transfer control of the vehicle to the second driving system of the vehicle based on the identification signal, and perform the off-site pick-up task based on the preset pick-up location through the second driving system, wherein the second driving system is used to control the automatic pick-up of the vehicle outside the parking lot.

[0120] In the embodiment of the present application, transferring the control right of the vehicle to the second driving system of the vehicle based on the identification signal includes the following steps C1-C3:

[0121] Step C1, based on the identification signal, sending a takeover instruction and a second cyclic heartbeat code for the on-site automatic parking program to the vehicle domain controller according to a preset number of times, so that the vehicle domain controller verifies the takeover instruction and the second cyclic heartbeat code.

[0122] Specifically, after obtaining the corresponding identification signal, the takeover instruction for the on-site automatic parking program is sent to the vehicle domain controller in an orderly manner according to the preset number of times. This takeover instruction carries the key intention of informing the vehicle domain controller that the control is ready to be transferred, and each time the takeover instruction is sent, the second cycle heartbeat code is sent synchronously. The second cycle heartbeat code plays an important role in maintaining the stability of the communication link with the vehicle domain controller, ensuring smooth communication between the two parties, and at the same time, it is convenient for the vehicle domain controller to verify the integrity and validity of the takeover instruction and the second cycle heartbeat code after receiving this information.

[0123] Step C2, obtaining an exit result according to whether a confirmation signal fed back by the vehicle domain controller is received, wherein the confirmation signal is sent by the vehicle domain controller after the takeover instructions received for a preset number of times and the second cycle heartbeat code verification pass.

[0124] Specifically, after sending the takeover command and the second cycle heartbeat code, the system will enter a state of waiting for feedback, paying close attention to whether it can receive a confirmation signal from the vehicle domain controller. This confirmation signal has a specific meaning. It is a symbolic feedback sent to the system by the vehicle domain controller after receiving the preset number of takeover commands and the second cycle heartbeat code, and after a rigorous verification process. It represents the vehicle domain controller's approval of the takeover operation, and the system obtains the corresponding exit result based on whether the confirmation signal is received, and then knows the progress of the control transfer work.

[0125] Step C3: if a confirmation signal fed back by the vehicle domain controller is received, it is determined that the control right is successfully transferred to the second driving system; or, if a confirmation signal fed back by the vehicle domain controller is not received, it is determined that the control right is not successfully transferred to the second driving system.

[0126] Specifically, if during the waiting process, the system successfully receives a confirmation signal from the vehicle domain controller, and the signal meets the established requirements (it is a specific flag bit and the value is a specified value), it means that the vehicle domain controller recognizes the takeover operation and agrees to transfer control. It can be determined that control has been successfully transferred to the second driving system, and subsequent vehicles can carry out corresponding operations under the control of the second driving system; on the contrary, if the confirmation signal from the vehicle domain controller is not received within the specified time, it means that the vehicle domain controller may have found a problem in the verification link or did not recognize the takeover for other reasons, and it can be determined that control has not been successfully transferred to the second driving system. At this time, it is necessary to further investigate related issues and re-promote the relevant process of control transfer to ensure that control can be transferred smoothly.

[0127] As an example, when the vehicle is about to perform the remote valet parking function, TBOX detects that it needs to take over the control of the vehicle. Therefore, TBOX sends a request to take over instruction to the ADC domain controller, and the value of the control signal RTO2_Flag is set to OX0001, and a 0-16 bit cyclic heartbeat code is sent at the same time. After receiving these signals, the ADC starts the first check to confirm whether the signal is complete and valid. Subsequently, TBOX sends the takeover control signal and cyclic heartbeat code again twice in a row. After receiving three consecutive signals, the ADC domain controller performs continuous checks to ensure accuracy and consistency. When the ADC completes the check, it sends a confirmation takeover control signal Cfm_Takov_Flag to the TBOX end, and the value is OX0001. When TBOX receives this signal and the value meets the requirements, it means that TBOX has taken over the vehicle control normally and can start to perform remote valet parking related operations.

[0128] In an embodiment of the present application, after the second driving system performs the off-site pick-up task based on the preset pick-up location, the method also includes: monitoring whether there is an abnormal pick-up exit event when the second driving system performs the off-site pick-up task based on the preset pick-up location; if there is an abnormal pick-up exit event, recording the fused positioning information when the abnormal exit event occurs; performing a cold start based on the fused positioning information, and reading the positioning status of the memory file to obtain a positioning result, wherein if the positioning status in the memory file is successful, the positioning result is to directly use the fused positioning information as the positioning result; or, if the memory file does not exist or the positioning status is invalid, the positioning result is the positioning information obtained by executing the positioning matching process; performing a cold start initialization self-test process according to the positioning result, and determining whether the state machine module is triggered normally; if the state machine module is triggered normally, judging based on the positioning result and the conditions for the related conditional reading function jump, so as to determine whether to resume automatic execution of the off-site pick-up task.

[0129] Specifically, first, when the second driving system performs the off-site pick-up task according to the preset pick-up location, the monitoring mechanism is turned on to determine whether there is an abnormal exit event in the pick-up. Monitoring can use the relevant sensors and status monitoring modules in the system to collect real-time information such as vehicle operation data and the working status of each functional module, and determine whether an abnormal exit has occurred through comprehensive analysis and judgment. Once an abnormal exit event is detected, the fused positioning information at the time of the abnormal exit event must be recorded immediately. This fused positioning information covers key positioning-related data such as the vehicle's position and direction at the time. It plays an important basic role in the subsequent recovery of the off-site pick-up task, and can provide a basis for the system to know the accurate status of the vehicle when it exits abnormally.

[0130] Next, a cold start operation is performed based on the recorded fusion positioning information, and the positioning status of the memory file is read to obtain the positioning result. In this process, if the memory file exists and the positioning status is successful, the previously recorded fusion positioning information can be directly used as the positioning result, so that the known accurate position state can be quickly restored, providing a reliable positioning basis for subsequent processes; if the memory file does not exist or the positioning status is invalid, it is necessary to execute the positioning matching process, and the vehicle-mounted positioning system is combined with surrounding environment information, map data and other factors for calculation and analysis, so as to obtain the corresponding positioning information as the final positioning result, ensuring that the system knows the current location of the vehicle.

[0131] Then, the cold start initialization self-check process is performed according to the positioning results. During this self-check stage, the vehicle body and domain control system will check the functions of each part of themselves and report temporary fault information, such as whether some sensors are working properly and whether the communication between the control modules is smooth. These temporary faults reported previously will be cleared only after the power is successfully turned on and the domain control system is running normally, and then it is determined whether the state machine module is triggered normally on this basis.

[0132] Finally, if the state machine module is triggered normally, it is necessary to read the function jump conditions based on the current positioning results and other relevant conditions (such as whether the function start inhibition conditions are met, etc.) to make a judgment. Through this series of condition analysis and judgment, it is finally determined whether the off-site pick-up task can be automatically resumed. Only when all conditions meet the requirements can the second driving system continue to accurately control the vehicle according to the preset process, drive along a reasonable route to the preset pick-up location, and complete the off-site pick-up task; if the conditions are not met, it may be necessary to further troubleshoot the problem, repair the fault, or wait for the relevant conditions to be met before trying to resume task execution.

[0133] As an example, Figure 6As shown, the vehicle is not within the parking electronic fence at the beginning and is in the T1 state. When the vehicle drives into the parking electronic fence, if the power-off memory result read at power-on is the parking map and the vehicle control command (start_mode=10) is received, the T2 state is entered. Then the vehicle may leave the parking electronic fence again and return to the T3 state. When the vehicle is in a fixed parking space and receives a call command (start_mode=11), or the power-off memory result read at power-on is the parking out map and the call function command (start_mode=11) is received, the T4 state is entered. If after matching the parking out map, the state machine continues to be non-parked for 5 seconds (APA_Function On OffSts=0xF) and is not within the parking map electronic fence, the T5 state is entered. When the vehicle is in a fixed parking space again and receives a call command (start_mode=11), or the power-off memory result read at power-on is the parking out map and the call command (start_mode=11) is received, the T6 state is returned. If, after matching the parking map, the state machine continues to be in the non-parking function for 5 seconds (APA_Function OnOffSts=0xF) and is within the electronic fence of the parking map, it is in the T7 state. During the entire process, the map matching module performs function jumps based on the vehicle's location, the received instructions, and the state of the state machine to ensure the accurate execution of the valet parking and pick-up functions. At the same time, in the abnormal exit recovery method for pick-up, the ADR module will record the fusion positioning status, delete the power-off memory file, or add the power-off memory according to different situations. The positioning initialization logic will perform positioning initialization according to the power-off memory file after the positioning is started. The overall functional state machine design distinguishes between cold and hot start states, and determines whether to enter the valet parking function according to different conditions.

[0134] In this embodiment, a control device for parking a vehicle is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made are omitted. As used below, the term "module" may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0135] This embodiment provides a vehicle parking control device, such as Figure 7 As shown, including:

[0136] The processing module 601 is used to execute the on-site pick-up task in the parking lot through the first driving system of the vehicle when receiving the vehicle control command, wherein the first driving system is used to control the vehicle to perform valet parking and automatic pick-up in the parking lot;

[0137] The detection module 602 is used to detect the handover evaluation status of the current control right of the vehicle when the first driving system completes the on-site pick-up task;

[0138] A generating module 603 is used to generate a corresponding identification signal according to the handover evaluation state if the handover evaluation state is in the handover ready state;

[0139] The execution module 604 is used to transfer the control of the vehicle to the second driving system of the vehicle based on the identification signal, and perform the off-site pick-up task based on the preset pick-up location through the second driving system, wherein the second driving system is used to control the automatic pick-up of the vehicle outside the parking lot.

[0140] In an embodiment of the present application, processing module 601 is used to receive a pick-up instruction sent by a user terminal associated with the vehicle; in response to the pick-up instruction, obtain map information of the parking lot and the current parking location of the vehicle, and plan a parking path from the parking location to the exit location of the parking lot based on the map information; generate an on-site pick-up task based on the parking path and the exit location, and call the first driving system to control the vehicle to travel to the exit location according to the parking path indicated by the on-site pick-up task.

[0141] In an embodiment of the present application, the device also includes: a monitoring module, used to monitor whether a control takeover signal and a fault code signal sent by a vehicle domain controller in the first driving system are received; if no control takeover signal and a fault code signal are received, then continuously monitor whether there is an on-site parking completion signal sent by the vehicle domain controller, wherein the on-site parking completion signal is sent by the automatic valet parking controller to the vehicle domain controller after completing the on-site parking task number; if there is an on-site parking completion signal sent by the vehicle domain controller, it is determined that the first driving system has completed the on-site pick-up task; or, if there is no on-site parking completion signal sent by the vehicle domain controller, it is determined that the first driving system has not completed the on-site pick-up task.

[0142] In an embodiment of the present application, the monitoring module is used to determine the fault information that caused the failure of the on-site parking task according to the fault code signal if a control authority takeover signal and a fault code signal are received; send the control authority takeover signal to the cloud and send the fault information to the user terminal, so that the cloud responds to the control authority takeover signal and performs corresponding diagnostic processing based on the control authority takeover signal.

[0143] In an embodiment of the present application, the detection module 602 is used to detect whether the vehicle is currently exiting the automatic parking program on the parking lot to obtain a first detection result; detect whether the vehicle is currently at the exit position of the parking lot to obtain a second detection result; detect the current operating status of the vehicle to obtain a third detection result; analyze the first detection result, the second detection result and the third detection result to obtain a handover evaluation status.

[0144] In an embodiment of the present application, the detection module 602 is used to determine that the handover evaluation status is a handover ready state if the first detection result is that the vehicle successfully exits the automatic parking program on the parking lot, the second detection result is that the vehicle is at the exit position of the parking lot, and the third detection result is that the vehicle has no faults and has entered a ready state; if the first detection result is that the vehicle fails to successfully exit the automatic parking program on the parking lot, the second detection result is that the vehicle is not at the exit position of the parking lot, and the third detection result is that the vehicle is faulty and / or has not entered a ready state, then the handover evaluation status is determined to be a handover not ready state.

[0145] In the embodiment of the present application, the detection module 602 is used to send an exit instruction and a first cyclic heartbeat code for the on-site automatic parking program to the vehicle domain controller according to a preset number of times, so that the vehicle domain controller verifies the exit instruction and the first cyclic heartbeat code; and obtain an exit result according to whether a confirmation signal fed back by the vehicle domain controller is received, wherein the confirmation signal is sent by the vehicle domain controller after the verification of the preset number of exit instructions and the first cyclic heartbeat code received is passed; if a confirmation signal fed back by the vehicle domain controller is received, the first detection result is a successful exit from the on-site automatic parking program; or, if a confirmation signal fed back by the vehicle domain controller is not received, the first detection result is an unsuccessful exit from the on-site automatic parking program.

[0146] In the embodiment of the present application, the execution module 604 is used to send a takeover instruction and a second cyclic heartbeat code for the on-site automatic parking program to the vehicle domain controller according to a preset number of times based on the identification signal, so that the vehicle domain controller verifies the takeover instruction and the second cyclic heartbeat code; obtain an exit result according to whether a confirmation signal fed back by the vehicle domain controller is received, wherein the confirmation signal is sent by the vehicle domain controller after the takeover instruction and the second cyclic heartbeat code received the preset number of times are verified; if the confirmation signal fed back by the vehicle domain controller is received, it is determined that the control right is successfully transferred to the second driving system; or, if the confirmation signal fed back by the vehicle domain controller is not received, it is determined that the control right is not successfully transferred to the second driving system.

[0147] In an embodiment of the present application, the device also includes: a monitoring module, used to monitor whether there is an abnormal exit event when the second driving system performs an off-site pick-up task based on a preset pick-up location; if there is an abnormal exit event, the fused positioning information when the abnormal exit event occurs is recorded; a cold start is performed based on the fused positioning information, and the positioning status of the memory file is read to obtain a positioning result, wherein if the positioning status in the memory file is successful, the positioning result is to directly use the fused positioning information as the positioning result; or, if the memory file does not exist or the positioning status is invalid, the positioning result is the positioning information obtained by executing the positioning matching process; a cold start initialization self-test process is performed according to the positioning result, and it is determined whether the state machine module is triggered normally; if the state machine module is triggered normally, a judgment is made based on the positioning result and the conditions for the related conditional reading function jump to determine whether to resume automatic execution of the off-site pick-up task.

[0148] See also Figure 8 , Figure 8 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 8 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system).

[0149] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0150] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0151] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the use of a computer device based on the presentation of a small program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0152] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0153] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0154] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0155] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for controlling vehicle parking, characterized in that: The method comprises: When receiving a vehicle control instruction, executing a pick-up task in the parking lot through a first driving system of the vehicle, wherein the first driving system is used to control the vehicle to perform valet parking and automatic pick-up in the parking lot; When the first driving system completes the on-site pick-up task, detecting the handover evaluation status of the current control right of the vehicle; If the handover evaluation state is in the handover ready state, generating a corresponding identification signal according to the handover evaluation state; Based on the identification signal, control of the vehicle is transferred to the second driving system of the vehicle, and the second driving system performs an off-site pick-up task based on a preset pick-up location, wherein the second driving system is used to control the automatic pick-up of the vehicle outside the parking lot.

2. The method according to claim 1, characterized in that The performing of the on-site pick-up task in the parking lot by the first driving system of the vehicle includes: Receiving a pick-up instruction sent by a user terminal associated with the vehicle; In response to the pick-up instruction, obtaining map information of the parking lot and the current parking location of the vehicle, and planning a parking path from the parking location to the exit location of the parking lot based on the map information; The on-site pick-up task is generated based on the parking path and the exit position, and the first driving system is called to control the vehicle to travel to the exit position according to the parking path indicated by the on-site pick-up task.

3. The method according to claim 1, characterized in that After the first driving system of the vehicle performs the on-site pick-up task in the parking lot, the method further includes: monitoring whether a control takeover signal and a fault code signal sent by a vehicle domain controller in the first driving system are received; If the control right takeover signal and the fault code signal are not received, then continuously monitoring whether there is an on-site parking completion signal sent by the vehicle domain controller, wherein the on-site parking completion signal is sent by the automatic valet parking controller to the vehicle domain controller after completing the on-site parking task number; If there is an on-site parking completion signal sent by the vehicle domain controller, it is determined that the first driving system has completed the on-site pick-up task; or, if there is no on-site parking completion signal sent by the vehicle domain controller, it is determined that the first driving system has not completed the on-site pick-up task.

4. The method according to claim 3, characterized in that The method further comprises: If the control right takeover signal and the fault code signal are received, the fault information causing the failure of the on-site parking task to be executed is determined according to the fault code signal; The control right takeover signal is sent to the cloud and the fault information is sent to the user terminal, so that the cloud responds to the control right takeover signal and performs corresponding diagnosis and processing based on the control right takeover signal.

5. The method according to claim 1, characterized in that: The detecting of the handover evaluation state of the current control right of the vehicle includes: Detecting whether the vehicle currently exits the on-site automatic parking program to obtain a first detection result; Detecting whether the vehicle is currently at an exit position of the parking lot to obtain a second detection result; Detecting the current running condition of the vehicle to obtain a third detection result; The first detection result, the second detection result, and the third detection result are analyzed to obtain the handover evaluation status.

6. The method according to claim 5, characterized in that The analyzing the first detection result, the second detection result, and the third detection result to obtain the handover evaluation status includes: If the first detection result is that the vehicle successfully exits the on-site automatic parking program, the second detection result is that the vehicle is at the exit position of the parking lot, and the third detection result is that the vehicle has no faults and enters the ready state, then the handover evaluation state is determined to be the handover ready state; If the first detection result is that the vehicle has not successfully exited the on-site automatic parking program, the second detection result is that the vehicle is not at the exit position of the parking lot, and the third detection result is that the vehicle is in a fault and / or has not entered the ready state, then the handover evaluation status is determined to be a handover not ready state.

7. The method according to claim 5, characterized in that The detecting whether the vehicle currently exits the on-site automatic parking program to obtain a first detection result includes: Sending an exit instruction and a first cyclic heartbeat code for the on-site automatic parking program to the vehicle domain controller according to a preset number of times, so that the vehicle domain controller verifies the exit instruction and the first cyclic heartbeat code; Obtaining an exit result according to whether a confirmation signal fed back by the vehicle domain controller is received, wherein the confirmation signal is sent by the vehicle domain controller after the exit instructions received for a preset number of times and the first cycle heartbeat code verification pass; If a confirmation signal fed back by the vehicle domain controller is received, the first detection result is a successful exit from the in-venue automatic parking program; or, if a confirmation signal fed back by the vehicle domain controller is not received, the first detection result is an unsuccessful exit from the in-venue automatic parking program.

8. The method according to claim 5, characterized in that The method of transferring the control right of the vehicle to the second driving system of the vehicle based on the identification signal comprises: Based on the identification signal, sending a takeover instruction and a second cyclic heartbeat code for the on-site automatic parking program to the vehicle domain controller according to a preset number of times, so that the vehicle domain controller verifies the takeover instruction and the second cyclic heartbeat code; Obtaining an exit result according to whether a confirmation signal fed back by the vehicle domain controller is received, wherein the confirmation signal is sent by the vehicle domain controller after the vehicle domain controller passes the verification of the received takeover instructions for a preset number of times and the second cycle heartbeat code; If a confirmation signal fed back by the vehicle domain controller is received, it is determined that the control right is successfully transferred to the second driving system; or, if a confirmation signal fed back by the vehicle domain controller is not received, it is determined that the control right is not successfully transferred to the second driving system.

9. The method according to claim 1, characterized in that: After the second driving system performs the off-site pick-up task based on the preset pick-up location, the method further includes: Monitoring whether there is an abnormal exit event when the second driving system performs an off-site pick-up task based on a preset pick-up location; If there is an abnormal exit event, the fusion positioning information at the time of the abnormal exit event is recorded; Perform a cold start based on the fused positioning information, and read the positioning status of the memory file to obtain a positioning result, wherein if the positioning status in the memory file is successful, the positioning result is to directly use the fused positioning information as the positioning result; or, if the memory file does not exist or the positioning status is invalid, the positioning result is the positioning information obtained by executing the positioning matching process; Perform a cold start initialization self-check process according to the positioning result, and determine whether the state machine module is triggered normally; If the state machine module is triggered normally, a judgment is made based on the positioning results and the conditions for the related conditional reading function jump to determine whether to resume automatic execution of the off-site pick-up task.

10. A vehicle parking control device, characterized in that: The device comprises: a processing module, configured to, upon receiving a vehicle control instruction, execute a pick-up task in the parking lot through a first driving system of the vehicle, wherein the first driving system is configured to control the vehicle to perform valet parking and automatic pick-up in the parking lot; A detection module, used for detecting the handover evaluation status of the current control right of the vehicle when the first driving system completes the on-site pick-up task; A generating module, configured to generate a corresponding identification signal according to the handover evaluation state if the handover evaluation state is in a handover ready state; An execution module is used to transfer the control of the vehicle to the second driving system of the vehicle based on the identification signal, and perform an off-site pick-up task based on a preset pick-up location through the second driving system, wherein the second driving system is used to control the automatic pick-up of the vehicle outside the parking lot.

11. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 9 by executing the computer instructions.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 9.

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