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

Abstract

This invention relates to the field of intelligent vehicle control, specifically to a vehicle parking control method, device, electronic equipment, and storage medium. Upon receiving a vehicle control command, the first driving system focuses on valet parking and automatic pick-up within the parking lot, improving the efficiency and success rate of pick-up tasks. After completing its task, the first driving system checks the handover evaluation status of vehicle control, ensuring that control is only transferred when ready, thus improving system stability and reliability. The second driving system handles automatic pick-up outside the parking lot, achieving seamless transition from inside to outside the parking lot. This clear division of labor reduces the need for driver monitoring or takeover. Both the first and second driving systems can automatically complete their respective tasks without driver intervention, achieving fully unmanned operation.

Description

Technical Field

[0001] This invention relates to the field of intelligent vehicle control, specifically to a vehicle parking control method, device, electronic equipment, and storage medium. Background Technology

[0002] With the development of vehicle driver assistance technology, people have higher requirements for the intelligence, convenience, and safety of vehicles. Valet parking systems, as a popular parking assistance system, can provide drivers with services such as parking the vehicle in a parking space or driving it from the parking space to a designated pick-up point. However, current valet parking systems generally require driver monitoring or even take over, which brings two problems: first, it reduces the efficiency and success rate of valet parking, negatively impacting the user experience; second, it cannot truly achieve a fully unmanned valet parking mode. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a vehicle parking control method, device, electronic device, and storage medium to solve the problem that existing valet parking systems cannot achieve fully unmanned operation, requiring driver monitoring or takeover, resulting in low valet parking efficiency and success rate, and affecting user experience.

[0004] In a first aspect, embodiments of the present invention provide a vehicle parking control method, the method comprising:

[0005] Upon receiving a vehicle control command, the vehicle's first driving system performs an in-park pick-up and drop-off task in the parking lot. The first driving system is used to control the vehicle to perform valet parking and automatic pick-up and drop-off within the parking lot.

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

[0007] If the handover assessment status is in the handover ready state, then a corresponding identification signal is generated based on the handover assessment status;

[0008] Based on the identification signal, control of the vehicle is transferred to the vehicle's second driving system, which then performs off-site pick-up tasks based on a preset pick-up location. The second driving system is used to control the vehicle to automatically pick up passengers outside the parking lot.

[0009] Furthermore, the process of performing the pick-up and drop-off task within the parking lot via the vehicle's first driving system includes:

[0010] Receive the pick-up command sent by the user terminal associated with the vehicle;

[0011] In response to the pick-up command, the system obtains map information of the parking lot and the current parking location of the vehicle, and plans a parking route from the parking location to the exit of the parking lot based on the map information.

[0012] Based on the parking path and the exit location, the in-park pick-up task is generated, and the first driving system is invoked to control the vehicle to drive to the exit location according to the parking path indicated by the in-park pick-up task.

[0013] Furthermore, after performing the pick-up and drop-off task in the parking lot via the vehicle's primary driving system, the method also includes:

[0014] Monitor whether control takeover signal and fault code signal are received from the vehicle domain controller in the first driving system;

[0015] If the control takeover signal and fault code signal are not received, the system will continue to monitor for the presence of an in-parking completion signal sent by the vehicle domain controller. The in-parking completion signal is the in-parking task number sent by the automatic valet parking controller to the vehicle domain controller.

[0016] If a parking completion signal is sent by the vehicle domain controller, the first driving system is determined to have completed the parking pick-up task; or, if no parking completion signal is sent by the vehicle domain controller, the first driving system is determined not to have completed the parking pick-up task.

[0017] Furthermore, the method also includes:

[0018] If the control takeover signal and the fault code signal are received, the fault information that caused the parking task to fail is determined based on the fault code signal.

[0019] The system sends the takeover signal to the cloud and the fault information to the user terminal, so that the cloud responds to the takeover signal and performs corresponding diagnostic processing based on the takeover signal.

[0020] Furthermore, the detection of the current control handover assessment status of the vehicle includes:

[0021] Detect whether the vehicle has exited the automatic parking program and obtain the first detection result;

[0022] The system detects whether the vehicle is currently at the exit of the parking lot, and obtains a second detection result.

[0023] The current operating status of the vehicle is detected, and a third detection result is obtained;

[0024] The handover evaluation status is obtained by analyzing the first detection result, the second detection result, and the third detection result.

[0025] Furthermore, the analysis of the first detection result, the second detection result, and the third detection result to obtain the handover evaluation status includes:

[0026] If the first detection result is that the vehicle has successfully exited the automatic parking program, the second detection result is that the vehicle is at the exit of the parking lot, and the third detection result is that the vehicle is fault-free and has entered the preparation 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 automatic parking program, the second detection result is that the vehicle is not at the exit of the parking lot, and the third detection result is that the vehicle is malfunctioning and / or has not entered the ready state, then the handover assessment state is determined to be a handover not ready state.

[0028] Furthermore, the step of detecting whether the vehicle has exited the automatic parking program and obtaining a first detection result includes:

[0029] The vehicle domain controller is sent an exit command and a first cyclic heartbeat code for the automatic parking program a preset number of times, so that the vehicle domain controller can verify the exit command and the first cyclic heartbeat code.

[0030] The exit result is obtained based on whether or not an acknowledgment signal is received from the vehicle domain controller, wherein the acknowledgment signal is sent by the vehicle domain controller after the received exit command of a preset number of times and the first cycle heartbeat code verification pass;

[0031] If a confirmation signal is received from the vehicle domain controller, the first detection result is that the automatic parking program in the parking lot has been successfully exited; or, if no confirmation signal is received from the vehicle domain controller, the first detection result is that the automatic parking program in the parking lot has not been successfully exited.

[0032] Furthermore, the transfer of control of the vehicle to the vehicle's second driving system based on the identification signal includes:

[0033] Based on the identification signal, a takeover command and a second cyclic heartbeat code for the automatic parking program in the parking lot are sent to the vehicle domain controller a preset number of times, so that the vehicle domain controller can verify the takeover command and the second cyclic heartbeat code.

[0034] The exit result is obtained based on whether or not an acknowledgment signal is received from the vehicle domain controller, wherein the acknowledgment signal is sent by the vehicle domain controller after the received takeover command of a preset number of times and the second cycle heartbeat code verification have passed;

[0035] If a confirmation signal is received from the vehicle domain controller, it is determined that the control has been successfully transferred to the second driving system; or, if no confirmation signal is received from the vehicle domain controller, it is determined that the control has not been successfully transferred to the second driving system.

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

[0037] Monitor whether there are any abnormal exit events when the second driving system performs off-site pick-up tasks based on preset pick-up locations;

[0038] If there is an abnormal exit event during pick-up, the fused location information at the time of the abnormal exit event is recorded;

[0039] A cold start is performed based on the fused positioning information, and the positioning status of the memory file is read to obtain the positioning result. 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] Based on the positioning results, a cold start initialization self-test process is performed to determine whether the state machine module is triggered normally;

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

[0042] Secondly, embodiments of the present invention provide a vehicle parking control device, the device comprising:

[0043] The processing module is used to perform in-park pick-up and drop-off tasks in the parking lot through the vehicle's first driving system when a vehicle control command is received. The first driving system is used to control the vehicle to perform valet parking and automatic pick-up and drop-off in the parking lot.

[0044] The detection module is used to detect the handover evaluation status of the current control of the vehicle when the first driving system completes the on-site pick-up task;

[0045] The generation module is used to generate a corresponding identification signal based on the handover evaluation status if the handover evaluation status is in the handover ready state.

[0046] An execution module is used to transfer control of the vehicle to the vehicle's second driving system based on the identification signal, and to perform off-site pick-up and drop-off tasks through the second driving system based on a preset pick-up and drop-off location. The second driving system is used to control the vehicle to automatically pick up and drop off passengers outside the parking lot.

[0047] Thirdly, embodiments of the present invention provide a computer device, including: 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 computer instructions to perform the method described in the first aspect or any corresponding embodiment thereof.

[0048] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions that cause a computer to perform the method described in the first aspect or any of its corresponding embodiments.

[0049] Upon receiving vehicle control commands, the first driving system focuses on valet parking and automated pick-up within the parking lot, improving the efficiency and success rate of pick-up tasks. After completing its task, the first driving system checks the handover assessment status of vehicle control, ensuring that control is only transferred when ready, thus improving system stability and reliability. The second driving system handles automated pick-up outside the parking lot, achieving seamless transition from inside to outside the parking lot. This clear division of labor reduces the need for driver monitoring or takeover. Both the first and second driving systems can automatically complete their respective tasks without driver intervention, achieving fully unmanned operation.

[0050] This application continuously monitors the control takeover signal, fault code signal, and parking completion signal sent by the vehicle domain controller in the primary vehicle system, enabling real-time and accurate monitoring of the vehicle's parking pick-up task status. If no control takeover signal or fault code signal is received, continuous monitoring of the parking completion signal allows for timely confirmation of whether the primary vehicle system has completed the parking pick-up task, ensuring the system has a clear understanding of the task's progress for subsequent operational arrangements. If a control takeover signal or fault code signal is received, the system can quickly identify the fault information causing the parking task failure based on the fault code signal, then send the control takeover signal to the cloud for appropriate diagnostic processing. Simultaneously, the fault information is sent to the user terminal, allowing the user to understand the situation, thus improving system transparency and fault handling efficiency. This solution helps improve the reliability and stability of the valet parking system, reduces task interruptions and user inconvenience caused by uncertainties, and enhances the user experience.

[0051] This application comprehensively understands the vehicle's status from multiple key perspectives by separately detecting whether the vehicle has exited the automated parking program, whether it is at the parking lot exit position, and the vehicle's current operating status. This helps to accurately determine the specific situation of the vehicle at different stages, providing an accurate basis for subsequent handover assessment. For detecting the exit from the automated parking program, an exit command and a first-cycle heartbeat code are sent to the vehicle domain controller a preset number of times, allowing the vehicle domain controller to verify and ensure that successful exit is only confirmed upon receiving an acknowledgment signal, thus improving the accuracy and reliability of exit judgment. In determining the handover assessment status, multiple detection results are comprehensively considered, clarifying the specific conditions for handover readiness and handover incompatibility. If the vehicle successfully exits the automated parking program, is at the parking lot exit position, and is fault-free and enters the ready state, it is determined to be in the handover readiness state, which lays the foundation for a smooth transfer of control; otherwise, it is determined to be in the handover incompatibility state, facilitating timely detection of problems and corresponding measures. During the control transfer process, takeover commands and second-cycle heartbeat codes are sent to the vehicle domain controller a preset number of times for verification. The control transfer is confirmed based on the confirmation signal, ensuring the stability and security of the control transfer. Attached Figure Description

[0052] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0053] Figure 1 This is a flowchart illustrating a vehicle parking control method according to some embodiments of the present invention;

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

[0055] Figure 3 This is a flowchart illustrating another vehicle parking control method according to some embodiments of the present invention;

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

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

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

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

[0060] Figure 8 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

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

[0063] This embodiment provides a vehicle parking control method. Figure 1 This is a flowchart of a vehicle parking control method according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps:

[0064] Step S101: Upon receiving a vehicle control command, the vehicle's first driving system is used to perform an in-park pick-up and drop-off task in the parking lot. The first driving system is used to control the vehicle to perform valet parking and automatic pick-up and drop-off within the parking lot.

[0065] In this embodiment, upon receiving a vehicle control command, the vehicle's primary driving system (analogous to a system comprised of AVP-related functional modules within the parking lot) is activated, initiating the in-park pick-up and drop-off task. This system utilizes its sensors and control algorithms to precisely control the vehicle, performing actions such as parking out of a space and cruising within the parking lot. This enables valet parking and automatic pick-up operations in the complex environment of a parking lot, ensuring the vehicle smoothly reaches the vicinity of the parking lot exit 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 of the vehicle.

[0067] In this embodiment, after the first driving system successfully completes the in-park pick-up task, such as completing the predetermined actions of picking up the vehicle and parking, the handover assessment status of the vehicle's current control is detected. This detection process involves a comprehensive judgment of multiple conditions, including whether the vehicle has reached the parking lot exit, whether the first driving system has completed the in-park pick-up function normally and completely, whether the vehicle itself is in a fault-free operating state, and whether the vehicle's key systems are in a Ready state. These conditions together constitute the basis for judging the handover assessment status.

[0068] Step S103: If the handover assessment status is in the handover ready state, then generate a corresponding identification signal based on the handover assessment status.

[0069] In this embodiment, if the vehicle's handover assessment status is deemed ready after testing—meaning the vehicle has reached the parking lot exit, the parking function within the lot is complete and has exited normally, and the vehicle is fault-free and in a Ready state—then the vehicle's relevant systems (such as the first driving system or other cooperating modules) will generate a series of corresponding identification signals based on this ready handover status, such as a parking completion sign and a parking lot exit sign. These signals will serve as important evidence for the transfer of vehicle control and as a carrier of information.

[0070] Step S104: Based on the identification signal, the control of the vehicle is transferred to the vehicle's second driving system. The second driving system performs the off-site pick-up task based on the preset pick-up location. The second driving system is used to control the automatic pick-up of the vehicle outside the parking lot.

[0071] In this embodiment, based on the generated identification signal, vehicle control is transferred from the first driving system to the vehicle's second driving system (analogous to a system composed of off-site driving-related functional modules). After receiving control, the second driving system uses its navigation, positioning, perception, and control functions to plan a reasonable driving route from the parking lot exit to the preset pick-up location, based on the preset pick-up location information. It then controls the vehicle to automatically drive in the road environment outside the parking lot, avoiding obstacles and following traffic rules, ultimately arriving safely and accurately at the preset pick-up location to complete the off-site pick-up task.

[0072] Upon receiving vehicle control commands, the first driving system focuses on valet parking and automated pick-up within the parking lot, improving the efficiency and success rate of pick-up tasks. After completing its task, the first driving system checks the handover assessment status of vehicle control, ensuring that control is only transferred when ready, thus improving system stability and reliability. The second driving system handles automated pick-up outside the parking lot, achieving seamless transition from inside to outside the parking lot. This clear division of labor reduces the need for driver monitoring or takeover. Both the first and second driving systems can automatically complete their respective tasks without driver intervention, achieving fully unmanned operation.

[0073] In addition, this application also provides a method for valet parking, such as... Figure 2 As shown, after entering the parking lot, the user activates the valet parking function. The valet parking controller then begins operation. After the user gets out of the car, they select a parking space on the mobile app and confirm to start valet parking.

[0074] After receiving user confirmation, the system cloud server generates a parking start command. The TBOX receives the command from the system cloud server and issues its own parking start command. The valet parking controller receives and parses the command, begins controlling the vehicle to park, and records information such as the parking map ID, the vehicle's floor, and the nearest elevator entrance. The valet parking controller also receives and parses the command from the TBOX, begins the 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 This is a flowchart of a vehicle parking control method according to an embodiment of the present invention, such as... Figure 3 As shown, the process includes the following steps:

[0076] Step S201: Upon receiving a vehicle control command, the vehicle's first driving system is used to perform an in-park pick-up and drop-off task in the parking lot. The first driving system is used to control the vehicle to perform valet parking and automatic pick-up and drop-off within the parking lot.

[0077] In this embodiment of the application, the relationship between the first driving system and the second driving system is as follows: Figure 4As shown, the primary vehicle management system typically uses AVP (Automated Valet Parking) to handle valet parking and automated pick-up / drop-off within the parking lot. During operation, the primary system interacts with multiple modules, including the app, E-AVP cloud, TBOX, ADC, and other AVP cloud components. For example, when a user issues a vehicle control command via the mobile app, relevant signals are transmitted to the primary system through modules such as the E-AVP cloud, TBOX, and ADC, initiating the pick-up / drop-off process, which includes actions such as parking out of the parking space and cruising within the parking lot.

[0078] The second driving system is primarily responsible for the automatic pick-up and drop-off of vehicles outside the parking lot. It also works in conjunction with the aforementioned system modules. Under certain conditions, such as the TBOX establishing normal communication with the cloud and the vehicle being fault-free and in a ready state, the second driving system receives control commands from the TBOX and begins controlling the vehicle. During this process, the APP, E-AVP cloud, TBOX, and ADC modules jointly provide the second driving system with crucial information such as the E-AVP activation indicator, the latitude and longitude of the parking lot entrance and exit, and the latitude and longitude of the user's drop-off point. This ensures 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 the TBOX and ADC is shown in the table below:

[0079]

[0080]

[0081]

[0082] Table 1 - TBOX Signal Transmission Protocol

[0083]

[0084]

[0085] Table 2 - TBOX Signal Transmission Protocol

[0086] In this embodiment of the application, the in-park pick-up and drop-off task is performed by the vehicle's first driving system, including the following steps A1-A3:

[0087] Step A1: Receive the pick-up command sent by the user terminal associated with the vehicle.

[0088] Specifically, the vehicle's first driving system is initially in a state of waiting to receive instructions. When the user terminal associated with the vehicle (such as a mobile 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 start of the subsequent in-park pick-up task process. This is the starting signal for the entire in-park pick-up task.

[0089] Step A2: Respond to the pick-up command, obtain the map information of the parking lot and the current parking location of the vehicle, and plan the parking route from the parking location to the exit of the parking lot based on the map information.

[0090] Specifically, upon receiving a pick-up instruction, the first driving system responds by interacting with the parking management system or pre-stored data to obtain detailed map information of the parking lot and determine the vehicle's precise parking location within the parking lot. Then, using a built-in path planning algorithm, it comprehensively considers factors such as the parking lot layout, lane restrictions, and the parking situation of other vehicles, and plans an optimal parking route from the parking location to the exit location, ensuring that the vehicle can safely and efficiently drive to the exit.

[0091] Step A3: Generate an in-park pick-up task based on the parking path and exit location, and call the first driving system to control the vehicle to drive to the exit location according to the parking path indicated by the in-park 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 in-park pick-up task instructions. Then, it invokes its own vehicle control module to precisely control the vehicle's steering, acceleration, and deceleration according to the parking path indicated by the in-park pick-up task, ensuring the vehicle smoothly travels along the planned path to the exit location. During the journey, it also monitors the surrounding environment in real time and performs necessary obstacle avoidance maneuvers to ensure the successful completion of the in-park 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 of the vehicle.

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

[0095] Specifically, the system activates a signal monitoring mechanism to listen for signals from the vehicle domain controller in the first driving system. It focuses on the presence of control takeover signals (specific flag bits set to 0x0001) and fault code signals (containing specific fault information, see Table 3 for details). The system remains highly vigilant, continuously waiting for these two key signals to determine if there are any abnormalities in vehicle control and whether there is corresponding fault detail feedback. If no control takeover signal or fault code signal is received, the system continues to monitor for parking completion signals from the vehicle domain controller.

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

[0097] Table 3 - Fault Code Table

[0098] If no takeover signal or fault code signal is detected from the vehicle domain controller during continuous monitoring, the system will not stop monitoring. Instead, it will continue to monitor for another important signal—the parking completion signal. This parking completion signal is sent to the vehicle domain controller by the automated valet parking controller after successfully completing the parking task. It indicates whether the parking process has reached the expected completion status under normal procedures. Therefore, the system will patiently wait for this signal to appear in order to further confirm the progress of the parking pick-up task.

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

[0100] If, during continuous monitoring, no parking completion signal is received from the vehicle domain controller, it indicates that the automated valet parking controller has not yet completed the parking task, and the parking process is still incomplete. Consequently, it can be determined that the first-stage vehicle system has not yet completed the parking pick-up task. The parking may still be in progress or may have encountered some obstacles that prevent it from being completed smoothly. In this case, it may be necessary to further investigate the relevant issues to ensure that the parking pick-up task can ultimately be successfully completed.

[0101] This application continuously monitors the control takeover signal, fault code signal, and parking completion signal sent by the vehicle domain controller in the primary vehicle system, enabling real-time and accurate monitoring of the vehicle's parking pick-up task status. If no control takeover signal or fault code signal is received, continuous monitoring of the parking completion signal allows for timely confirmation of whether the primary vehicle system has completed the parking pick-up task, ensuring the system has a clear understanding of the task's progress for subsequent operational arrangements. If a control takeover signal or fault code signal is received, the system can quickly identify the fault information causing the parking task failure based on the fault code signal, then send the control takeover signal to the cloud for appropriate diagnostic processing. Simultaneously, the fault information is sent to the user terminal, allowing the user to understand the situation, thus improving system transparency and fault handling efficiency. This solution helps improve the reliability and stability of the valet parking system, reduces task interruptions and user inconvenience caused by uncertainties, and enhances the user experience.

[0102] Step S203: If the handover assessment status is in the handover ready state, then generate a corresponding identification signal based on the handover assessment status.

[0103] In this embodiment of the application, detecting the handover assessment status of the current control of the vehicle includes the following steps B1-B4:

[0104] Step B1: Detect whether the vehicle has exited the automatic parking program and obtain the first detection result.

[0105] Specifically, the process of detecting whether the vehicle has exited the automatic parking program and obtaining a first detection result includes: sending an exit command and a first cyclic heartbeat code for the automatic parking program to the vehicle domain controller a preset number of times, so that the vehicle domain controller can verify the exit command and the first cyclic heartbeat code; obtaining an exit result based on whether a confirmation signal is received from the vehicle domain controller, wherein the confirmation signal is sent by the vehicle domain controller after verifying the received exit command and the first cyclic heartbeat code a preset number of times; if a confirmation signal is received from the vehicle domain controller, the first detection result is that the vehicle has successfully exited the automatic parking program; or, if a confirmation signal is not received from the vehicle domain controller, the first detection result is that the vehicle has not successfully exited the automatic parking program.

[0106] In practice, an exit command is sent to the vehicle domain controller a pre-set number of times. This exit command carries information informing the vehicle domain controller that the automatic parking program in the parking lot is to be terminated. Each exit command is accompanied by a corresponding first-cycle heartbeat code. The first-cycle heartbeat code helps maintain the stability of the communication link with the vehicle domain controller. It also allows the vehicle domain controller to verify the integrity and validity of the received information, thereby determining whether the received exit command and accompanying first-cycle heartbeat code are accurate and reliable, providing a basis for subsequent decisions on whether to send back a confirmation signal.

[0107] After sending information to the vehicle domain controller, the system enters a feedback waiting phase, listening for a confirmation signal from the controller. This confirmation signal is a specific flag sent by the vehicle domain controller only after rigorously verifying the received exit commands and the first cycle heartbeat code a preset number of times, and confirming that all verifications have passed. It signifies that the vehicle domain controller acknowledges the exit command and related information, agreeing to allow the vehicle to exit the automated parking program. Therefore, the presence or absence of this confirmation signal is a crucial criterion for determining whether the vehicle has successfully exited.

[0108] If, during the waiting period, a confirmation signal is successfully received from the vehicle domain controller, and this signal meets the requirements (a specific flag bit with a value of 0x0001), it indicates that the vehicle domain controller has confirmed that the vehicle can exit the automatic parking program, and the entire exit process has been completed smoothly as expected. The corresponding first detection result is a successful exit from the automatic parking program, and the vehicle can then proceed to other relevant process stages or remain in standby mode. Conversely, if the system does not receive a confirmation signal from the vehicle domain controller within the specified waiting time, it means that the vehicle domain controller may have detected a problem with the exit command or the first loop heartbeat code during the verification process, or it may not have recognized the exit operation for other reasons, thus failing to send a confirmation signal. In this case, the first detection result can be determined as a failure to exit the automatic parking program. Further investigation of potential problems in the sending and verification stages may be necessary to ensure the vehicle can ultimately exit the automatic parking program successfully.

[0109] As an example, after the vehicle completes remote valet parking, the TBOX begins the process of exiting vehicle control. The TBOX sends an exit request command to the ADC domain controller, with the control signal RTO1_Flag valued at OX0001, and simultaneously sends a 0-16 bit cyclic heartbeat code. Upon receiving these signals, the ADC performs its first verification, checking for signal integrity and validity. Then, the TBOX sends the exit control signal and cyclic heartbeat code twice more. After receiving three consecutive signals, the ADC domain controller performs continuous verification to ensure signal accuracy and consistency. Once the ADC completes its verification, it sends an exit confirmation signal Cfm_Exit_Flag to the TBOX, with a value of OX0001. When the TBOX receives this signal and the value meets the requirements, it indicates that the vehicle has successfully exited control, completing the entire exit control process after remote valet parking.

[0110] In this embodiment of the application, the method further includes: if a control takeover signal and a fault code signal are received, determining the fault information that caused the parking task to fail based on the fault code signal; sending the control takeover signal to the cloud and sending the fault information to the user terminal, so that the cloud responds to the control takeover signal and performs corresponding diagnostic processing based on the control takeover signal.

[0111] Step B2: Detect whether the vehicle is currently at the exit of the parking lot and obtain the second detection result.

[0112] Specifically, the vehicle's precise geographical location information is obtained through the vehicle's onboard positioning system (such as a positioning module that integrates satellite positioning, vehicle sensors and other multi-source information). This location information is then 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, thereby clarifying the vehicle's status at the parking lot exit.

[0113] Step B3: Detect the current operating status of the vehicle and obtain the third detection result.

[0114] Specifically, by utilizing various sensors equipped on the vehicle (such as speed sensors, steering angle sensors, and braking sensors) and related operational status monitoring modules, multiple data points related to the vehicle's current driving process are collected in real time, such as whether the driving speed is normal, whether the steering operation is smooth, and whether the braking system is in a good responsive state. These collected data are then comprehensively analyzed and judged to gain a comprehensive understanding of the vehicle's current operating status. This process yields a third detection result, providing a basis for further operational decisions regarding the vehicle's operating status.

[0115] Step B4: Analyze the first, second, and third test results to obtain the handover assessment status.

[0116] In this embodiment of the application, the handover evaluation state is obtained by analyzing the first detection result, the second detection result, and the third detection result, including: if the first detection result is that the vehicle has successfully exited the 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 is fault-free and has entered the preparation 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 automatic parking program, the second detection result is that the vehicle is not at the exit position of the parking lot, the third detection result is that the vehicle is faulty, and / or has not entered the preparation state, then the handover evaluation state 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, the second detection result shows that the vehicle is at the exit of the parking lot, and the third detection result shows that the vehicle is not faulty and has entered the ready state, then the handover assessment status can be determined as the handover ready state. However, if the first detection result shows that the vehicle has failed to successfully exit the automatic parking program, or the second detection result shows that the vehicle is not at the exit 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, then the handover assessment status can be determined as the handover not ready state.

[0118] This application comprehensively understands the vehicle's status from multiple key perspectives by separately detecting whether the vehicle has exited the automated parking program, whether it is at the parking lot exit position, and the vehicle's current operating status. This helps to accurately determine the specific situation of the vehicle at different stages, providing an accurate basis for subsequent handover assessment. For detecting the exit from the automated parking program, an exit command and a first-cycle heartbeat code are sent to the vehicle domain controller a preset number of times, allowing the vehicle domain controller to verify and ensure that successful exit is only confirmed upon receiving an acknowledgment signal, thus improving the accuracy and reliability of exit judgment. In determining the handover assessment status, multiple detection results are comprehensively considered, clarifying the specific conditions for handover readiness and handover incompatibility. If the vehicle successfully exits the automated parking program, is at the parking lot exit position, and is fault-free and enters the ready state, it is determined to be in the handover readiness state, which lays the foundation for a smooth transfer of control; otherwise, it is determined to be in the handover incompatibility state, facilitating timely detection of problems and corresponding measures. During the control transfer process, takeover commands and second-cycle heartbeat codes are sent to the vehicle domain controller a preset number of times for verification. The control transfer is confirmed based on the confirmation signal, ensuring the stability and security of the control transfer.

[0119] Step S204: Based on the identification signal, the control of the vehicle is transferred to the vehicle's second driving system. The second driving system performs the off-site pick-up task based on the preset pick-up location. The second driving system is used to control the automatic pick-up of the vehicle outside the parking lot.

[0120] In this embodiment of the application, the transfer of vehicle control to the vehicle's second driving system based on the identification signal includes the following steps C1-C3:

[0121] Step C1: Based on the identification signal, send a takeover command and a second cycle heartbeat code for the automatic parking program in the parking lot to the vehicle domain controller a preset number of times, so that the vehicle domain controller can verify the takeover command and the second cycle heartbeat code.

[0122] Specifically, after acquiring the corresponding identification signal, a takeover command for the automated parking program is sent to the vehicle domain controller in a predetermined sequence. This takeover command conveys the key intention of informing the vehicle domain controller that control is about to be transferred. Each time a takeover command is sent, a second-cycle heartbeat code is simultaneously sent. This second-cycle heartbeat code plays a crucial role in maintaining a stable communication link with the vehicle domain controller, ensuring smooth communication between the two parties. It also allows the vehicle domain controller to verify the completeness and validity of the takeover command and the second-cycle heartbeat code upon receiving this information.

[0123] Step C2: Based on whether an acknowledgment signal is received from the vehicle domain controller, the exit result is obtained. The acknowledgment signal is sent by the vehicle domain controller after the received takeover command of a preset number of times and the second cycle heartbeat code verification have passed.

[0124] Specifically, after sending the takeover command and the second-cycle heartbeat code, the system enters a waiting state, closely monitoring whether it receives a confirmation signal from the vehicle domain controller. This confirmation signal has a specific meaning; it is a marker feedback sent by the vehicle domain controller to the system only after a rigorous verification process, following a preset number of takeover commands and the second-cycle heartbeat code. It represents the vehicle domain controller's approval of the takeover operation, and the system uses the receipt of this confirmation signal to obtain the corresponding exit result, thereby understanding the progress of the control transfer.

[0125] In step C3, if a confirmation signal is received from the vehicle domain controller, it is determined that control has been successfully transferred to the second vehicle system; or, if no confirmation signal is received from the vehicle domain controller, it is determined that control has not been successfully transferred to the second vehicle system.

[0126] Specifically, if the system successfully receives a confirmation signal from the vehicle domain controller during the waiting process, and this signal meets the predetermined requirements (a specific flag bit with a specified value), it means that the vehicle domain controller has approved the takeover operation and agreed to transfer control. This confirms that control has been successfully transferred to the second vehicle control system, and the vehicle can then perform corresponding operations under the control of the second vehicle control system. Conversely, if no confirmation signal is received from the vehicle domain controller within the specified time, it indicates that the vehicle domain controller may have discovered a problem during the verification process or failed to approve the takeover for other reasons. This confirms that control has not been successfully transferred to the second vehicle control system. In this case, it is necessary to further investigate the relevant issues and restart the control transfer process to ensure a smooth transfer of control.

[0127] As an example, when a vehicle is about to initiate remote valet parking, the TBOX detects the need to take over vehicle control. Therefore, the TBOX sends a takeover request command to the ADC domain controller, setting the value of the control signal RTO2_Flag to OX0001, and simultaneously sending a 0-16 bit cyclic heartbeat code. Upon receiving these signals, the ADC performs its first verification to confirm signal integrity and validity. Subsequently, the TBOX resends the takeover control signal and cyclic heartbeat code twice more. After receiving three consecutive signals, the ADC domain controller performs continuous verification to ensure accuracy and consistency. Once the ADC completes its verification, it sends a takeover confirmation control signal Cfm_Takov_Flag to the TBOX, with a value of OX0001. When the TBOX receives this signal and the value meets the requirements, it indicates that the TBOX has successfully taken over vehicle control and can begin executing remote valet parking related operations.

[0128] In this embodiment of the application, 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 the off-site pick-up task based on the preset pick-up location; if there is an abnormal exit event, recording the fused positioning information at the time of the abnormal exit event; performing a cold start based on the fused positioning information, and reading the positioning status of the memory file to obtain the 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; performing a cold start initialization self-check process based on 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 related conditions to read the conditions for function jump, thereby determining whether to resume the automatic execution of the off-site pick-up task.

[0129] Specifically, firstly, during the off-site pick-up and drop-off process of the second vehicle system based on the preset pick-up location, a monitoring mechanism is activated to determine if any abnormal exit events have occurred. Monitoring utilizes relevant sensors and status monitoring modules within the system to collect real-time vehicle operation data, the working status of various functional modules, and other information. This comprehensive analysis determines whether an abnormal exit has occurred. Once an abnormal exit event is detected, the fused positioning information at the time of the event is immediately recorded. This fused positioning information includes key positioning-related data such as the vehicle's current location and direction. It plays a crucial foundational role in the subsequent resumption of the off-site pick-up and drop-off task, providing the system with a basis for knowing the precise status of the vehicle at the time of the abnormal exit.

[0130] Next, a cold start operation is performed based on the recorded fused positioning information, while the positioning status of the memory file is read to obtain the positioning result. During this process, if the memory file exists and its positioning status is successful, the previously recorded fused positioning information can be directly used as the positioning result, quickly restoring the known accurate location and providing a reliable positioning foundation for subsequent processes. However, if the memory file does not exist or the positioning status is invalid, a positioning matching process needs to be executed. This involves the vehicle's positioning system combining surrounding environmental information, map data, and other factors to perform calculations and analysis, obtaining the corresponding positioning information as the final positioning result, ensuring the system knows the vehicle's current location.

[0131] Subsequently, a cold start initialization self-test process is performed based on the obtained positioning results. During this self-test phase, the vehicle body and domain control system check the functions of each part of themselves and report temporary fault information. For example, whether certain sensors are working properly and whether communication between various control modules is smooth are all detected and reported. These previously reported temporary faults will only be cleared after successful power-on and normal operation of the domain control system. Then, it is determined whether the state machine module is triggered normally.

[0132] Finally, if the state machine module triggers normally, it needs to read and judge the conditions for function jump based on the current positioning results and other relevant conditions (such as whether the function activation suppression conditions are met). Through this series of condition analysis and judgment, it is finally determined whether the automatic execution of the off-site pick-up task can be resumed. Only when all conditions are met can the second driving system continue to accurately control the vehicle according to the preset process, drive along the 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 investigate the problem, repair the fault, or wait for the relevant conditions to be met before trying to resume task execution.

[0133] As an example, such as Figure 6As shown, the vehicle is initially outside the parking geofence area, in state T1. When the vehicle moves into the parking geofence area, if the power-on readout of the power-off memory result is a parking map entry and a vehicle control command is received (start_mode=10), it enters state T2. The vehicle may then leave the parking geofence area, returning to state T3. When the vehicle is in a fixed parking space and receives a summon command (start_mode=11), or the power-on readout of the power-off memory result is a parking map exit and a summon function command is received (start_mode=11), it enters state T4. If, after matching the parking map, the state machine remains non-parked for 5 seconds (APA_Function On OffSts=0xF) and is outside the parking map geofence area, it enters state T5. When the vehicle is again in a fixed parking space and receives a summon command (start_mode=11), or the power-on readout of the power-off memory result is a parking map exit and a summon command (start_mode=11), it returns to state T6. If, after matching the parking map, the state machine remains in a non-parking function for 5 seconds (APA_Function OnOffSts = 0xF) and is within the electronic fence range of the parking map, it enters state T7. Throughout this process, the map matching module performs function transitions based on the vehicle's location, received instructions, and the state machine's state to ensure the accurate execution of valet parking and pick-up functions. Simultaneously, in the pick-up abnormal exit recovery method, the ADR module records the fused positioning status, deletes the power-down memory file, or adds power-down memory based on different situations. The positioning initialization logic initializes positioning based on the power-down memory file after positioning starts. The overall functional state machine design distinguishes between cold and warm start states, determining whether to enter the valet parking function based on different conditions.

[0134] This embodiment also provides a vehicle parking control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

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

[0136] The processing module 601 is used to perform in-park pick-up and drop-off tasks in the parking lot through the vehicle's first driving system when a vehicle control command is received. The first driving system is used to control the vehicle to perform valet parking and automatic pick-up and drop-off in the parking lot.

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

[0138] The generation module 603 is used to generate a corresponding identification signal based on the handover evaluation status if the handover evaluation status is in the handover ready state.

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

[0140] In this embodiment of the application, the processing module 601 is used to receive a pick-up command sent by the user terminal associated with the vehicle; respond to the pick-up command, obtain the 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 of the parking lot based on the map information; generate an in-park pick-up task based on the parking path and the exit location, and call the first driving system to control the vehicle to drive to the exit location according to the parking path indicated by the in-park pick-up task.

[0141] In this embodiment, the device further includes: a monitoring module, configured to monitor whether a control takeover signal and a fault code signal are received from the vehicle domain controller in the first driving system; if no control takeover signal and fault code signal are received, the module continuously monitors whether a parking completion signal is sent by the vehicle domain controller, wherein the parking completion signal is sent by the automatic valet parking controller to the vehicle domain controller upon completion of the parking task; if a parking completion signal is sent by the vehicle domain controller, the first driving system is determined to have completed the parking pick-up task; or, if no parking completion signal is sent by the vehicle domain controller, the first driving system is determined not to have completed the parking pick-up task.

[0142] In this embodiment, the monitoring module is used to, if it receives a control takeover signal and a fault code signal, determine the fault information that caused the parking task to fail based on the fault code signal; send the control takeover signal to the cloud and send the fault information to the user terminal, so that the cloud responds to the control takeover signal and performs corresponding diagnostic processing based on the control takeover signal.

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

[0144] In this embodiment of the application, the detection module 602 is used to determine the handover evaluation state as the handover ready state if the first detection result is that the vehicle has successfully exited the 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 is fault-free and has entered the preparation state; if the first detection result is that the vehicle has not successfully exited the automatic parking program, the second detection result is that the vehicle is not at the exit position of the parking lot, the third detection result is that the vehicle is faulty, and / or has not entered the preparation state, then the handover evaluation state is determined as the handover not ready state.

[0145] In this embodiment, the detection module 602 is used to send an exit command and a first cyclic heartbeat code for the automatic parking program to the vehicle domain controller a preset number of times, so that the vehicle domain controller can verify the exit command and the first cyclic heartbeat code; and obtain the exit result based on whether a confirmation signal is received from the vehicle domain controller, wherein the confirmation signal is sent by the vehicle domain controller after verifying the received exit command and the first cyclic heartbeat code a preset number of times; if a confirmation signal is received from the vehicle domain controller, the first detection result is that the automatic parking program has been successfully exited; or, if a confirmation signal is not received from the vehicle domain controller, the first detection result is that the automatic parking program has not been successfully exited.

[0146] In this embodiment, the execution module 604 is used to send a takeover command and a second cyclic heartbeat code for the automatic parking program to the vehicle domain controller a preset number of times based on the identification signal, so that the vehicle domain controller can verify the takeover command and the second cyclic heartbeat code; and to obtain an exit result based on whether a confirmation signal is received from the vehicle domain controller, wherein the confirmation signal is sent by the vehicle domain controller after verifying the received takeover command and the second cyclic heartbeat code a preset number of times; if a confirmation signal is received from the vehicle domain controller, it is determined that the control has been successfully transferred to the second driving system; or, if a confirmation signal is not received from the vehicle domain controller, it is determined that the control has not been successfully transferred to the second driving system.

[0147] In this embodiment, the device further includes: a monitoring module, used to monitor whether there is an abnormal exit event when the second driving system performs off-site pick-up tasks based on a preset pick-up location; if there is an abnormal exit event, the fused positioning information at the time of the abnormal exit event 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 the 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 performing the positioning matching process; a cold start initialization self-check 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, the conditions for function jump are read according to the positioning result and related conditions to determine whether to resume automatic execution of the off-site pick-up task.

[0148] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 8 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system).

[0149] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0150] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0151] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

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

[0153] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0154] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

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

Claims

1. A method for controlling vehicle parking, characterized in that, The method includes: Upon receiving a vehicle control command, the vehicle's first driving system performs an in-park pick-up and drop-off task in the parking lot. The first driving system is used to control the vehicle to perform valet parking and automatic pick-up and drop-off within the parking lot. When the first driving system completes the on-site pick-up task, it detects the handover evaluation status of the current control of the vehicle; If the handover assessment status is in the handover ready state, then a corresponding identification signal is generated based on the handover assessment status; Based on the identification signal, control of the vehicle is transferred to the vehicle's second driving system, which then performs off-site pick-up tasks based on a preset pick-up location. The second driving system is used to control the vehicle to automatically pick up passengers outside the parking lot.

2. The method according to claim 1, characterized in that, The process of performing pick-up and drop-off tasks in the parking lot via the vehicle's first driving system includes: Receive the pick-up command sent by the user terminal associated with the vehicle; In response to the pick-up command, the system obtains map information of the parking lot and the current parking location of the vehicle, and plans a parking route from the parking location to the exit of the parking lot based on the map information. Based on the parking path and the exit location, the in-park pick-up task is generated, and the first driving system is invoked to control the vehicle to drive to the exit location according to the parking path indicated by the in-park pick-up task.

3. The method according to claim 1, characterized in that, After performing the pick-up and drop-off task in the parking lot via the vehicle's primary driving system, the method also includes: Monitor whether control takeover signal and fault code signal are received from the vehicle domain controller in the first driving system; If the control takeover signal and fault code signal are not received, the system will continue to monitor for the presence of a parking completion signal sent by the vehicle domain controller. The parking completion signal is sent to the vehicle domain controller by the automatic valet parking controller after completing the parking task. If a parking completion signal is sent by the vehicle domain controller, the first driving system is determined to have completed the parking pick-up task; or, if no parking completion signal is sent by the vehicle domain controller, the first driving system is determined not to have completed the parking pick-up task.

4. The method according to claim 3, characterized in that, The method further includes: If the control takeover signal and the fault code signal are received, the fault information that caused the parking task to fail is determined based on the fault code signal. The system sends the takeover signal to the cloud and the fault information to the user terminal, so that the cloud responds to the takeover signal and performs corresponding diagnostic processing based on the takeover signal.

5. The method according to claim 1, characterized in that, The detection of the handover assessment status of the current control of the vehicle includes: Detect whether the vehicle has exited the automatic parking program and obtain the first detection result; The system detects whether the vehicle is currently at the exit of the parking lot, and obtains a second detection result. The current operating status of the vehicle is detected, and a third detection result is obtained; The handover evaluation status is obtained by analyzing the first detection result, the second detection result, and the third detection result.

6. The method according to claim 5, characterized in that, The analysis of 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 has successfully exited the automatic parking program, the second detection result is that the vehicle is at the exit of the parking lot, and the third detection result is that the vehicle is fault-free and has entered the preparation 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 automatic parking program, the second detection result is that the vehicle is not at the exit of the parking lot, and the third detection result is that the vehicle is malfunctioning and / or has not entered the ready state, then the handover assessment state is determined to be a handover not ready state.

7. The method according to claim 5, characterized in that, The step of detecting whether the vehicle has exited the automatic parking program and obtaining a first detection result includes: The system sends an exit command and a first cyclic heartbeat code for the automatic parking program to the vehicle domain controller a preset number of times, so that the vehicle domain controller can verify the exit command and the first cyclic heartbeat code. The exit result is obtained based on whether the vehicle domain controller receives an acknowledgment signal. The acknowledgment signal is sent by the vehicle domain controller after the vehicle receives the exit command for a preset number of times and passes the first cycle heartbeat code verification. If a confirmation signal is received from the vehicle domain controller, the first detection result is that the automatic parking program in the parking lot has been successfully exited; or, if no confirmation signal is received from the vehicle domain controller, the first detection result is that the automatic parking program in the parking lot has not been successfully exited.

8. The method according to claim 5, characterized in that, The transfer of control of the vehicle to the vehicle's second driving system based on the identification signal includes: Based on the identification signal, a takeover command and a second cyclic heartbeat code for the automatic parking program in the parking lot are sent to the vehicle domain controller a preset number of times, so that the vehicle domain controller can verify the takeover command and the second cyclic heartbeat code. The exit result is obtained based on whether the vehicle domain controller receives an acknowledgment signal. The acknowledgment signal is sent by the vehicle domain controller after the received takeover command of a preset number of times and the second cycle heartbeat code verification pass. If a confirmation signal is received from the vehicle domain controller, it is determined that the control has been successfully transferred to the second driving system; or, if no confirmation signal is received from the vehicle domain controller, it is determined that the control has not been successfully transferred to the second driving system.

9. The method according to claim 1, characterized in that, After performing the off-site pick-up and drop-off task based on a preset pick-up location via the second driving system, the method further includes: Monitor whether there are any abnormal exit events when the second driving system performs off-site pick-up tasks based on preset pick-up locations; If there is an abnormal exit event during pick-up, the fused location information at the time of the abnormal exit event 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 the positioning result. 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. Based on the positioning results, a cold start initialization self-test process is performed to determine whether the state machine module is triggered normally; If the state machine module is triggered normally, it will make a judgment based on the positioning results and the conditions for reading the function jump, thereby determining whether to resume the automatic execution of the off-site pick-up task.

10. A vehicle parking control device, characterized in that, The device comprises: The processing module is used to perform in-park pick-up and drop-off tasks in the parking lot through the vehicle's first driving system when a vehicle control command is received. The first driving system is used to control the vehicle to perform valet parking and automatic pick-up and drop-off in the parking lot. The detection module is used to detect the handover evaluation status of the current control of the vehicle when the first driving system completes the on-site pick-up task; The generation module is used to generate a corresponding identification signal based on the handover evaluation status if the handover evaluation status is in the handover ready state. An execution module is used to transfer control of the vehicle to the vehicle's second driving system based on the identification signal, and to perform off-site pick-up and drop-off tasks through the second driving system based on a preset pick-up and drop-off location. The second driving system is used to control the vehicle to automatically pick up and drop off passengers outside the parking lot.

11. An electronic device, characterized in that, include: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a computer to perform the method of any one of claims 1 to 9.

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