Parking method and device, vehicle, storage medium and program product

Abstract

The invention relates to a parking method and device, a vehicle, a storage medium and a program product, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining a target route corresponding to a target site, the target route being obtained based on a historical route of the vehicle arriving at and / or leaving a target parking space at the target site; determining a target idle parking space search starting strategy; starting target idle parking space searching along the target route according to a target idle parking space searching starting strategy; and under the condition that the target idle parking space is searched, the vehicle is controlled to be parked in the target idle parking space. By multiplexing the target route and combining the target idle parking space search starting strategy, the search of the idle parking space can be automatically started, the diversification of the search mode is realized, the replanning of the advancing route is avoided, the invalid advancing route is reduced, the whole search process is smoother, and the search efficiency is improved. And the automatic searching efficiency of the idle parking space and the user experience are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and in particular to a parking method, device, vehicle, storage medium, and program product. Background Art

[0002] Autonomous driving can save a lot of manpower and has broad application prospects.

[0003] For automatic parking of a vehicle, it is necessary to first find an empty parking space and then control the vehicle to park in the empty parking space. In the related art, the automatic search for an empty parking space has the problem of low efficiency, which affects the parking experience of users. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a parking method, device, vehicle, storage medium and program product, which can obtain a target route corresponding to a current target site, and the target route is obtained based on the historical route of the vehicle arriving at and / or leaving the target parking space at the target site, and then the target route can be reused, and combined with the target vacant parking space search start strategy, the vehicle can automatically start searching for vacant parking spaces along the target route, thereby realizing the diversification of search methods, avoiding re-planning of travel routes and reducing invalid travel paths, making the entire search process smoother, so as to improve the efficiency of automatic search for vacant parking spaces and improve user experience.

[0005] According to a first aspect of an embodiment of the present disclosure, there is provided a parking method, comprising: Obtaining a target route corresponding to the target site, the target route being obtained based on a historical route of the vehicle arriving at and / or leaving the target parking space at the target site; Determine the target free parking space search start strategy; Initiate a target vacant parking space search along the target route according to the target vacant parking space search initiation strategy; When a target vacant parking space is found, the vehicle is controlled to park in the target vacant parking space.

[0006] Optionally, the target vacant parking space search initiation strategy includes a first strategy, wherein the first strategy is to initiate the target vacant parking space search when the target parking space is occupied.

[0007] Optionally, the target route includes an exit route from the target parking space to the target site exit; The step of starting the target vacant parking space search along the target route according to the target vacant parking space search start strategy includes: According to the first strategy, when the target parking space is occupied, a free parking space is searched along the parking route.

[0008] Optionally, the target vacant parking space search start strategy includes a second strategy, and the second strategy is to start the target vacant parking space search in response to the target vacant parking space search start information input by the user.

[0009] Optionally, the target vacant parking space search start strategy includes a third strategy, and the third strategy is to start the target vacant parking space search when the distance between the vehicle and the target parking space reaches a preset distance value.

[0010] Optionally, the preset distance may be adjusted in response to a user input or automatically adjusted according to free parking space data of the target site.

[0011] Optionally, when a target vacant parking space is found, before controlling the vehicle to park in the target vacant parking space, the method further includes: If an empty parking space is found before reaching the target parking space, the empty parking space is determined as the target empty parking space.

[0012] Optionally, when a target vacant parking space is found, before controlling the vehicle to park in the target vacant parking space, the method further includes: If no vacant parking space is found when arriving at the target parking space, it is first determined whether the target parking space is occupied.

[0013] Optionally, the method further comprises: When the target parking space is not occupied, the target parking space is determined as the target vacant parking space.

[0014] Optionally, the method further comprises: When the target parking space is occupied, continue searching for an empty parking space along the target route.

[0015] Optionally, when a target vacant parking space is found, before controlling the vehicle to park in the target vacant parking space, the method further includes: When no vacant parking space is found upon arrival at the target parking space and the target parking space is occupied, the vehicle is controlled to stay for a preset time and / or a prompt message is output to the user.

[0016] Optionally, the prompt information includes prompting the user whether to take over the vehicle, and the method further includes: If the user takes over the vehicle, the search for an empty parking space is stopped; or, if the user does not take over the vehicle, the search for an empty parking space continues along the target route.

[0017] Optionally, the prompt information includes prompting the user that he has arrived at the target parking space.

[0018] Target vacant parking space search start strategy Optionally, determining a target vacant parking space search start strategy includes: Present multiple candidate search initiation strategies to the user; Based on the user selection, the candidate search start strategy selected by the user is determined as the target vacant parking space search start strategy.

[0019] Optionally, obtaining a target route corresponding to the target site includes: Obtaining at least one historical route of the target site; A historical route among the at least one historical route that passes through the target parking space is determined as a target route corresponding to the target site.

[0020] Optionally, the target parking space includes at least one of an exclusive parking space, a parking space with the most historical parking times, and a favorite parking space.

[0021] Optionally, in the case of searching for a target vacant parking space, controlling the vehicle to park in the target vacant parking space includes: Determining a parking route for the vehicle to the target vacant parking space; The vehicle is controlled to park in the target vacant parking space according to the parking route.

[0022] Optionally, the historical route includes a parking route, and the method further includes: In response to a parking route creation request, obtaining first driving data of a vehicle, wherein the first driving data is data detected when the vehicle drives from an entrance of the target site to the target parking space; The parking route is constructed according to the first driving data.

[0023] Optionally, the historical route includes a parking route, and the method further includes: In response to a request to create a parking route, obtaining second driving data of the vehicle, where the second driving data is data detected when the vehicle drives from a target parking space to an exit of the target site; The parking route is constructed according to the second driving data.

[0024] According to a second aspect of an embodiment of the present disclosure, a parking device is provided, comprising: A first acquisition module is configured to acquire a target route corresponding to a target site, wherein the target route is obtained based on a historical route of a vehicle arriving at and / or leaving a target parking space at the target site; A first determination module is configured to determine a target vacant parking space search start strategy; A first search module is configured to start the search for a target vacant parking space along the target route according to the target vacant parking space search start strategy; The first control module is configured to control the vehicle to park in the target vacant parking space when a target vacant parking space is found.

[0025] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: processor; a memory for storing processor-executable instructions; The processor is configured to implement the steps of the parking method provided in the first aspect of the embodiment of the present disclosure when executing.

[0026] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the steps of the parking method provided in the first aspect of the embodiment of the present disclosure are implemented.

[0027] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps of the parking method provided in the first aspect of the embodiment of the present disclosure.

[0028] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects: A target route corresponding to the target site is obtained, where the target route is obtained based on a historical route of the vehicle arriving at and / or leaving a target parking space at the target site; a target vacant parking space search start strategy is determined; according to the target vacant parking space search start strategy, a target vacant parking space search is started along the target route; and when a target vacant parking space is found, the vehicle is controlled to park in the target vacant parking space.

[0029] By obtaining the target route corresponding to the current target site, the target route is obtained based on the historical route of the vehicle arriving at and / or leaving the target parking space at the target site. When the vehicle enters the target site, the target route can be reused, and the vehicle can be started to search for an empty parking space on the target route according to the target empty parking space search start strategy selected by the user, which can realize the diversification of search methods, avoid re-planning the route and reduce invalid routes, making the entire search process smoother, improving the efficiency of automatic search for empty parking spaces, and improving user experience.

[0030] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0032] Figure 1 The figure is a schematic diagram of an application scenario of a parking method according to an exemplary embodiment.

[0033] Figure 2 The figure is a flowchart of a parking method according to an exemplary embodiment.

[0034] Figure 3 is a node diagram of a first strategy according to an exemplary embodiment.

[0035] Figure 4 is a node diagram of a second strategy according to an exemplary embodiment.

[0036] Figure 5 is a node diagram showing a third strategy according to an exemplary embodiment.

[0037] Figure 6 The figure is a block diagram of a parking device according to an exemplary embodiment.

[0038] Figure 7 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0039] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numerals in different drawings represent the same or similar elements.

[0040] The embodiments described in some embodiments of the present disclosure below do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0041] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0042] Autonomous driving can save a lot of manpower and has broad application prospects.

[0043] For automatic parking of vehicles, it is necessary to first find an empty parking space, and then control the vehicle to park in the empty parking space. In the related technology, the automatic search for empty parking spaces has the problem of low efficiency, which affects the user's parking experience. For example, during the search process, it is necessary to temporarily plan the search route based on the currently acquired environmental perception data, and then search for empty parking spaces. There will be pauses in the planning process, and the planned temporary route is prone to have many invalid travel routes, resulting in low efficiency and poor user experience in the automatic search for empty parking spaces.

[0044] In view of the above technical problems, the embodiments of the present disclosure provide a parking method, device, vehicle, storage medium and program product, which can obtain a target route corresponding to the current target site, and the target route is obtained based on the historical route of the vehicle arriving at and / or leaving the target parking space at the target site. When the vehicle enters the target site, the target route can be reused, and the vehicle can be started to search for an empty parking space on the target route according to the target empty parking space search start strategy confirmed by the user, which can realize the diversification of the search method, avoid re-planning the route and reduce invalid routes, make the whole search process smoother, improve the efficiency of automatic search for empty parking spaces, and enhance the user experience.

[0045] Figure 1 is a schematic diagram of an application scenario of a parking method according to an exemplary embodiment. Figure 1 As shown, the method can be applied to vehicles, and specifically to the automatic parking scenario of vehicles. Figure 1 As shown, the target site may be a parking lot, which includes multiple parking spaces, and a target route corresponding to the target site may be obtained, the target route may pass through the target parking space, and the arrow direction indicates the direction of travel. Based on the target route, an idle parking space search start strategy confirmed by the user may be combined to find an idle parking space.

[0046] Figure 2 is a flow chart of a parking method according to an exemplary embodiment. Figure 2 As shown, it can be applied to a vehicle and may include the following steps.

[0047] In step S201, a target route corresponding to the target site is obtained, where the target route is obtained based on a historical route of the vehicle arriving at and / or leaving the target parking space at the target site.

[0048] In this embodiment, the target site is the area where the vehicle is located, such as a parking lot. Based on the historical route of the target site, the target route corresponding to the target site can be obtained. Among them, the historical route of the target site can be the route that the current vehicle has traveled in the target site, or it can be the route that other vehicles have traveled in the target site, and specifically it can be the driving route of the vehicle arriving at and / or leaving the target parking space at the target site. The driving route of the current vehicle arriving at and / or leaving the target parking space at the target site can be directly obtained to obtain the historical route of the target site, and the driving routes of other vehicles arriving at and / or leaving the target parking space at the target site uploaded by other vehicles can also be obtained from the public platform to obtain the historical route of the target site. Preferably, the target parking space may include at least one of an exclusive parking space, a parking space with the most historical stops, and a collection parking space. Among them, according to the priority sorting, it can be an exclusive parking space → a parking space with the most historical stops → a collection parking space.

[0049] In step S202, a target vacant parking space search start strategy is determined.

[0050] In this embodiment, the target vacant parking space search start strategy can be determined based on the user's selection, or based on the user's historical selection, so as to achieve the diversification of search methods and improve the user experience by giving the user more search mode choices. Preferably, the target vacant parking space search start strategy selected by the user last time can be used as the default target vacant parking space search start strategy. If the user does not change it, the vacant parking space is searched according to the strategy selected by the user last time; if the user changes it, the strategy changed by the user shall prevail.

[0051] In step S203, according to the target free parking space search start strategy, the target free parking space search is started along the target route. In this embodiment, the target route can be reused, and the vehicle moves along the target route, and the starting point of the free parking space search is determined in combination with the target free parking space search start strategy, and then the free parking space search is continued along the target route. During the search, the free parking space can be searched in combination with the environmental perception data detected during the movement, so that it can be determined whether there is a free parking space based on the environmental perception data, and the search method can be diversified, and the re-planning of the route can be avoided and invalid routes can be reduced, so that the entire search process is smoother, so as to improve the efficiency of the automatic search for free parking spaces.

[0052] In step S204, when a target vacant parking space is found, the vehicle is controlled to park in the target vacant parking space.

[0053] In this embodiment, when a target vacant parking space is found, the search is stopped, and the target vacant parking space is used as the parking target, and the vehicle is controlled to park in the target vacant parking space to complete the automatic parking of the vehicle.

[0054] In this embodiment, the target route is generated by acquiring the historical route of the vehicle at the current target site. Preferably, the historical route includes the path of the vehicle arriving at and / or leaving the target parking space at the target site. By reusing the target route and combining the target free parking space search start strategy, the vehicle can automatically start searching for free parking spaces along the target route. This method not only realizes the diversification of search methods, but also avoids re-planning the route and reducing invalid travel paths, making the entire search process smoother, so as to improve the efficiency of automatic search for free parking spaces and enhance the user experience.

[0055] Figure 3 is a node diagram of a first strategy according to an exemplary embodiment. Figure 3 As shown, in a possible implementation, the target vacant parking space search start strategy includes a first strategy, and the first strategy is to start the target vacant parking space search when the target parking space is occupied.

[0056] In this embodiment, the target vacant parking space search start strategy includes a first strategy, which may be a search strategy corresponding to the destination parking. Specifically, the target parking space may be used as the destination. When the vehicle arrives at the target parking space, if the target parking space is occupied, the target vacant parking space search mode is automatically started to find the target vacant parking space that can be parked. Preferably, the target parking space may include at least one of an exclusive parking space, a parking space with the most historical parking times, and a favorite parking space.

[0057] In a possible implementation, the target route includes an exit route from the target parking space to the target site exit.

[0058] According to the target free parking space search start strategy, the target free parking space search is started along the target route, including: According to the first strategy, when the target parking space is occupied, a free parking space is searched along the parking route. Specifically, when the vehicle arrives at the target parking space, if the target parking space is occupied, the vehicle is automatically controlled to search for a free parking space on the parking route.

[0059] In this embodiment, according to the first strategy, the target parking space can be reached first and it can be determined whether the target parking space is occupied. Specifically, the target route can also include a parking route from the entrance of the target site to the target parking space, and the target parking space can be driven along the parking route. When it is determined that the target parking space is occupied, the target free parking space search can be initiated, and the free parking space can be searched along the parking route. In this way, it is possible to park as close to the exit of the parking lot as possible, so as to quickly exit the target parking lot, thereby better meeting the actual expectations of the user and improving the user experience. Preferably, the aforementioned driving along the parking route, determining whether the target parking space is occupied, and initiating the target free parking space search are all automatically completed by the vehicle without the need for user operation.

[0060] Figure 4 is a node diagram of a second strategy according to an exemplary embodiment. Figure 4 As shown, in a possible implementation, the target vacant parking space search start strategy includes a second strategy, and the second strategy is to start the target vacant parking space search in response to the target vacant parking space search start information input by the user.

[0061] In this embodiment, the target free parking space search start strategy includes a second strategy, and the second strategy may be a search strategy corresponding to parking along the way, that is, the search for free parking spaces can be performed on the entire target route. Specifically, during the process of the vehicle traveling along the target route, the target free parking space search can be started at any time in response to the target free parking space search start information input by the user. So that the target free parking space search can be started based on the user's wishes. Preferably, the vehicle can search for the target free parking space based on the user's response when entering the parking lot, so that the free parking space can be found as soon as possible and automatically parked in the free parking space, thereby saving the overall parking time. Preferably, the target parking space may include at least one of an exclusive parking space, a parking space with the most historical parking times, and a favorite parking space.

[0062] Figure 5 is a node diagram of a third strategy according to an exemplary embodiment. Figure 5 As shown, in a possible implementation, the target vacant parking space search start strategy includes a third strategy, and the third strategy is to start the target vacant parking space search when the distance between the vehicle and the target parking space reaches a preset distance.

[0063] In this embodiment, the target free parking space search start strategy includes a third strategy, and the third strategy can be a search strategy corresponding to nearby parking, that is, the target free parking space search can be automatically started when the distance between the vehicle and the target parking space reaches a preset distance. Specifically, the distance between the vehicle and the target parking space can be determined in real time based on the position of the vehicle and the position of the target parking space during the vehicle's driving along the target route, that is, during the driving along the parking route, and the target free parking space search can be started when the distance between the vehicle and the target parking space reaches a preset distance value. Among them, the preset distance value can be set according to actual conditions, for example, the distance can be 30 meters. The preset distance value can also be adjusted in response to user input. For example, the user can adjust the preset distance according to the parking congestion of the target site. If the congestion is high, the preset distance can be increased to expand the search range, so as to increase the probability of finding a free parking space. The preset distance value can also be automatically adjusted according to the free parking space data of the target site. For example, the preset distance value may be negatively correlated with the free parking space data of the target site, that is, the smaller the free parking space data of the target site, the larger the preset distance value, so that the search range can be expanded when there are fewer free parking spaces in the target site, thereby increasing the probability of searching for the target free parking space.

[0064] In a possible implementation, when a target vacant parking space is found, before controlling the vehicle to park in the target vacant parking space, the method further includes: If an empty parking space is found before reaching the target parking space, the empty parking space is determined as the target empty parking space.

[0065] In this embodiment, if an empty parking space is found before reaching the target parking space, the search for the empty parking space can be stopped, and the empty parking space found can be determined as the target empty parking space, and the vehicle can be directly controlled to park in the target empty parking space, so that the target empty parking space can be found as soon as possible and the automatic parking of the vehicle can be completed, thus reducing the time consumption of the entire automatic parking.

[0066] In a possible implementation, when a target vacant parking space is found, before controlling the vehicle to park in the target vacant parking space, the method further includes: If no vacant parking space is found when arriving at the target parking space, it is first determined whether the target parking space is occupied.

[0067] In this embodiment, if no vacant parking space is found when arriving at the target parking space, it is first determined whether the target parking space is occupied, so that the user can park in the target parking space desired by the user as much as possible to improve the user's parking experience. Preferably, the target parking space may include at least one of an exclusive parking space, a parking space with the most historical parking times, and a favorite parking space.

[0068] In a possible implementation, when the target parking space is not occupied, the target parking space is determined as a target vacant parking space.

[0069] In this embodiment, when the target parking space is not occupied, the target parking space is determined as a target free parking space so that the user can park in the target parking space desired by the user, thereby improving the user's parking experience.

[0070] In a possible implementation, the method further includes: When the target parking space is occupied, continue searching for an empty parking space along the target route.

[0071] In this embodiment, if it is determined that the target parking space is occupied, the search for an empty parking space may continue along the target route, and specifically, the search for an empty parking space may be conducted along a parking exit route in the target route, so as to improve the search efficiency for the empty parking space.

[0072] In a possible implementation, when a target vacant parking space is found, before controlling the vehicle to park in the target vacant parking space, the method further includes: When no vacant parking space is found upon arrival at the target parking space and the target parking space is occupied, the vehicle is controlled to stay for a preset time and / or a prompt message is output to the user.

[0073] In this embodiment, if no vacant parking space is found when arriving at the target parking space and the target parking space is occupied, the vehicle can be controlled to stay for a preset time so as to remind the user that the vehicle has arrived at the target parking space by staying. A prompt message can also be output to the user, wherein the prompt message may include prompting the user whether to take over the vehicle, and the prompt message can be output in the form of voice, text or pictures so that the user can choose whether to take over the vehicle. The prompt message may also include prompting the user that the target parking space has been reached to improve the user experience. Preferably, if no vacant parking space is found when arriving at the target parking space and the target parking space is occupied, the vehicle may stay for 1-2 seconds to inform the user that the target parking space has been reached, and further, the user may be asked whether to take over the vehicle.

[0074] In a possible implementation, the prompt information includes prompting the user whether to take over the vehicle, and the method further includes: If the user takes over the vehicle, the search for an empty parking space is stopped; or, if the user does not take over the vehicle, the search for an empty parking space continues along the target route.

[0075] In this embodiment, after the prompt message prompting the user whether to take over the vehicle is output to the user, if it is detected that the user takes over the vehicle (for example, steps on the brake, or inputs a command to stop automatic parking), the search for an empty parking space can be stopped, and automatic parking can be exited so that the user can drive the vehicle by himself. If it is detected that the user has not taken over the vehicle, the search for an empty parking space along the target route continues so as to continue automatic parking. Preferably, if the user does not perform any operation, it is determined that the user has not taken over the vehicle.

[0076] In a possible implementation, if no vacant parking space is found at the end of the target route, a takeover message may be sent to the user to prompt the user to take over. Preferably, if no vacant parking space is found at the end of the target route, the vehicle will automatically stop driving and shift to P gear, and prompt the user to take over vehicle operation.

[0077] In a possible implementation, obtaining a target route corresponding to a target site includes: At least one historical route of the target site is obtained; and a historical route passing through the target parking space among the at least one historical route is determined as a target route corresponding to the target site.

[0078] In this embodiment, at least one historical route of the target site can be obtained, and the historical route may include the route that the current vehicle has traveled in the target site, and may also include the routes that other vehicles have traveled in the target site. When the user sets the target parking space, a historical route that passes through the target parking space among at least one historical route can be determined as the target route corresponding to the target site. So that the user's parking expectations can be met as much as possible. Preferably, a historical route that passes through the target parking space among at least one historical route and passes through the most parking spaces can be determined as the target route corresponding to the target site, so as to increase the probability of searching for an empty parking space while meeting the user's expectations. Among them, passing through the most parking spaces refers to the route with the largest number of parking spaces.

[0079] In a possible implementation, when a target vacant parking space is found, controlling the vehicle to park in the target vacant parking space includes: Determine a parking route from the vehicle to the target vacant parking space; control the vehicle to park in the target vacant parking space according to the parking route.

[0080] In this embodiment, when a target vacant parking space is searched, the target vacant parking space can be determined as the parking target position of the vehicle, and then a parking route from the vehicle to the target vacant parking space can be constructed based on the current position of the vehicle and the position of the target vacant parking space, so that the vehicle can be controlled to drive automatically based on the parking route and automatically parked in the target vacant parking space.

[0081] In a possible implementation, determining a target vacant parking space search start strategy includes: The target free parking space search start strategy is obtained based on the user's configuration data.

[0082] In this embodiment, the target vacant parking space search start strategy can be obtained based on the target configuration data input by the user. For example, the target configuration data may include the priorities of multiple candidate search start strategies input by the user, and the candidate search start strategy with the highest priority can be determined as the target vacant parking space search start strategy.

[0083] After obtaining the target vacant parking space search start strategy, the target vacant parking space search can be started based on the target vacant parking space search start strategy and in combination with the target route, so as to search for vacant parking spaces along the target route, and whether there is a vacant parking space can be determined in combination with the environmental perception data detected during the travel process. The environmental perception data can be sensor data detected by the vehicle-mounted sensor, and the vehicle-mounted sensor can specifically include at least one of a surround view camera and an ultrasonic radar.

[0084] Starting the target vacant parking space search through the target vacant parking space search start strategy can better meet the user's parking expectations and improve the user experience.

[0085] In a possible implementation, determining a target vacant parking space search start strategy includes: The historical search start strategy of the vehicle is determined as the target vacant parking space search start strategy.

[0086] In this embodiment, the user's historical search start strategy can be obtained. The historical search start strategy can be the search start strategy selected or used by the user last time, so that the user's last search start strategy can be directly determined as the target vacant parking space search start strategy.

[0087] In a possible implementation, determining a target vacant parking space search start strategy includes: A plurality of candidate search start strategies are displayed to the user; based on the user's selection, the candidate search start strategy selected by the user is determined as the target vacant parking space search start strategy.

[0088] In this embodiment, the target free parking space search start strategy can be determined based on the user's selection. Preferably, a plurality of optional candidate search start strategies can be displayed to the user based on the display screen of the vehicle computer. Among them, the plurality of candidate search start strategies may include a first strategy, a second strategy and a third strategy, which may correspond to the destination parking, parking along the way and parking nearby, respectively, in response to the user's selection to confirm the target free parking space search start strategy. Further, when the user selects one of the candidate search start strategies, the explanation content corresponding to the candidate search start strategy can be displayed to the user. For example, the explanation content corresponding to the first strategy can be: park in the target parking space, and if the target parking space is occupied, it will automatically find a parking space. The explanation content corresponding to the second strategy can be: enter the parking lot to automatically find a parking space. The explanation content corresponding to the third strategy can be: reach the destination parking space 30m before the automatic search for a parking space. By displaying the explanation content corresponding to the candidate search start strategy to the user, it is possible to assist the user in selecting the desired target free parking space search start strategy.

[0089] In a possible implementation, the distance between the vehicle and the target parking space can be determined based on the parking route, and a progress bar corresponding to the distance between the vehicle and the target parking space can be determined, and the progress bar can be displayed to the user in real time, so as to intuitively show the distance between the vehicle and the target parking space to the user through the progress bar.

[0090] In a possible implementation, the historical route includes a parking route, and the method further includes: In response to a parking route creation request, first driving data of the vehicle is acquired, where the first driving data is data detected when the vehicle drives from an entrance of a target site to a target parking space; and a parking route is constructed according to the first driving data.

[0091] In this embodiment, the historical route corresponding to the target site can be created based on the driving data of the current vehicle in the target parking lot, or can be created based on the driving data of other vehicles in the target site, thereby obtaining the historical route of the target site.

[0092] Among them, no matter whether the historical route is created by the current vehicle or other vehicles, the specific creation method is the same. Take the historical route created by the current vehicle as an example: The historical route may include a parking route. The current vehicle may display an option to create a parking route to the user through the display interface. The user may click on the option to trigger a parking route creation request. The vehicle may obtain the first driving data of the vehicle in response to the parking route creation request. The first driving data is the data detected when the vehicle drives from the entrance of the target site to the target parking space. After the user clicks on the option to create a parking route, the user may drive the vehicle from the entrance of the target site to the target parking space, and the vehicle may perform detection in real time to obtain the first driving data. After obtaining the first driving data, a parking route from the entrance of the target parking lot to the target parking space may be constructed based on the first driving data.

[0093] In a possible implementation, the historical route includes an outbound route, and the method further includes: In response to a request to create a parking route, second driving data of the vehicle is obtained, where the second driving data is data detected when the vehicle drives from a target parking space to an exit of a target site; and a parking route is constructed based on the second driving data.

[0094] In this embodiment, the historical route may include an exit route. The current vehicle may display an option to create an exit route to the user through a display interface. The user may click on the option to trigger an exit route creation request. The vehicle may obtain the second driving data of the vehicle in response to the exit route creation request. The second driving data is the data detected when the vehicle drives from the target parking space to the exit of the target site. After the user clicks on the option to create an exit route, the user may drive the vehicle from the target parking space to the exit of the target site, and the vehicle may perform detection in real time to obtain the second driving data. After obtaining the second driving data, an exit route may be constructed from the target parking space to the exit of the target parking lot based on the second driving data.

[0095] In a possible implementation, the method further includes: Determine target prompt information according to the target prompt point triggered by the vehicle; and output the target prompt information to the user.

[0096] In this embodiment, the target prompt point triggered by the vehicle can be determined based on the vehicle status information or the user's operation information. The target prompt point can be one of reaching the search start point, the midway intervention point, the cruising point, the search point, the parking spot found, and the parking spot not found. The target prompt information can be determined based on the target prompt point in combination with the target parking method.

[0097] Roaming parking in the following example refers to the vehicle autonomously navigating in the parking lot, using sensors and algorithms to detect the surrounding environment in real time, automatically finding and parking in an empty parking space without human intervention.

[0098] For example, when the target vacant parking space search start strategy is the first strategy, the search starting point is reached and the corresponding prompt message may be: the target parking space is occupied and parking is being parked in a nearby vacant parking space, or the terminal parking space is occupied and roaming around to find a parking space is about to begin. If you need to terminate, you can take over the vehicle. The prompt message corresponding to the search point may be: roaming around to find a parking space. The prompt message corresponding to finding a parking space may be: a vacant parking space has been found and parking will be about to begin. The prompt message corresponding to not finding a parking space may be: the end of the route has been reached and no parking space has been found. Please take over immediately.

[0099] When the target vacant parking space search start strategy is the second strategy, the search starts at the starting point and the corresponding prompt message may be: valet parking has begun, and the vehicle will roam around to find a parking space and park there. If you need to terminate, you can take over the vehicle. The prompt message corresponding to the search point may be: roaming around to find a parking space. The prompt message corresponding to the parking space found may be: a vacant parking space has been found and you will park there soon. The prompt message corresponding to the parking space not found may be: the end of the route has been reached and no available parking space has been found. Please take over immediately.

[0100] When the target vacant parking space search start strategy is the third strategy, the search starting point is reached and the corresponding prompt message may be: you have arrived near the destination and are looking for a parking space. If you need to terminate, you can take over the vehicle; the prompt message corresponding to the search point may be: roaming in search of a parking space; the prompt message corresponding to the parking space found may be: a vacant parking space has been found and you will park soon; the prompt message corresponding to the parking space not found may be: you have reached the end of the route and failed to find a parking space. Please take over immediately.

[0101] The target prompt information may be output to the user via text display or voice output.

[0102] Figure 6 is a block diagram of a parking device according to an exemplary embodiment. Figure 6 The parking device 600 includes a first acquisition module 601 , a first determination module 602 , a first search module 603 and a first control module 604 .

[0103] A first acquisition module 601 is configured to acquire a target route corresponding to a target site, wherein the target route is obtained based on a historical route of a vehicle arriving at and / or leaving a target parking space at the target site; The first determination module 602 is configured to determine a target vacant parking space search start strategy; The first search module 603 is configured to start the target vacant parking space search along the target route according to the target vacant parking space search start strategy; The first control module 604 is configured to control the vehicle to park in the target vacant parking space when a target vacant parking space is found.

[0104] Optionally, the target route includes an exit route from the target parking space to the target site exit; Optionally, the target vacant parking space search initiation strategy includes a first strategy, wherein the first strategy is to initiate the target vacant parking space search when the target parking space is occupied. The first search module 603 includes: a search submodule configured to search for the target vacant parking space along the parking route according to the first strategy when the target parking space is occupied.

[0105] Optionally, the target vacant parking space search initiation strategy includes a second strategy, wherein the second strategy is to initiate the target vacant parking space search in response to search initiation information input by the user. The first search module 603 includes: a search submodule configured to initiate the target vacant parking space search in response to the search initiation information input by the user according to the second strategy.

[0106] Optionally, the target vacant parking space search initiation strategy includes a third strategy, wherein the target vacant parking space search is initiated when the distance between the vehicle and the target parking space reaches a preset distance value. The first search module 603 includes: a search submodule configured to initiate the target vacant parking space search when the distance between the vehicle and the target parking space reaches a preset distance according to the third strategy.

[0107] Optionally, the preset distance may be adjusted in response to a user input or automatically adjusted according to free parking space data of the target site.

[0108] Optionally, the parking device 600 further includes: The second determining module is configured to determine the vacant parking space as the target vacant parking space if an vacant parking space is found before reaching the target parking space.

[0109] Optionally, the parking device 600 further includes: The judgment module is configured to, if no vacant parking space is found when arriving at the target parking space, give priority to judging whether the target parking space is occupied.

[0110] Optionally, the parking device 600 further includes: The third determining module is configured to determine the target parking space as the target vacant parking space when the target parking space is not occupied.

[0111] Optionally, the parking device 600 further includes: The second search module is configured to continue searching for an empty parking space along the target route when the target parking space is occupied.

[0112] Optionally, the parking device 600 further includes: The second control module is configured to control the vehicle to stay for a preset time and / or output a prompt message to the user when no vacant parking space is found upon arrival at the target parking space and the target parking space is occupied.

[0113] Optionally, the prompt information includes prompting the user whether to take over the vehicle, and the parking device 600 further includes: A stop module, configured to stop searching for an empty parking space if the user takes over the vehicle; The third search module is configured to continue searching for an empty parking space along the target route if the user has not taken over the vehicle.

[0114] Optionally, the prompt information includes prompting the user that he has arrived at the target parking space.

[0115] Optionally, the first determining module 602 includes: The first determination submodule is configured to determine the historical search start strategy of the vehicle as the target vacant parking space search start strategy.

[0116] Optionally, the first determining module 602 includes: a display submodule, configured to display a plurality of candidate search initiation strategies to a user; The second determination submodule is configured to determine the candidate search start strategy selected by the user as the target vacant parking space search start strategy based on the user's selection.

[0117] Optionally, the first acquisition module 601 includes: An acquisition submodule, configured to acquire at least one historical route of the target site; The third determining submodule is configured to determine a historical route among the at least one historical route that passes through the target parking space as a target route corresponding to the target site.

[0118] Optionally, the target parking space includes at least one of an exclusive parking space, a parking space with the most historical parking times, and a favorite parking space.

[0119] Optionally, the first control module 604 includes: a fourth determination submodule, configured to determine a parking route from the vehicle to the target vacant parking space; The control submodule is configured to control the vehicle to park in the target vacant parking space according to the parking route.

[0120] Optionally, the historical route includes a parking route, and the parking device 600 further includes: A second acquisition module is configured to acquire first driving data of the vehicle in response to the parking route creation request, wherein the first driving data is data detected when the vehicle drives from the entrance of the target site to the target parking space; The first construction module is configured to construct the parking route according to the first driving data.

[0121] Optionally, the historical route includes a parking route, and the parking device 600 further includes: A third acquisition module is configured to acquire second driving data of the vehicle in response to the request for creating a parking route, wherein the second driving data is data detected when the vehicle drives from the target parking space to the exit of the target site; The second construction module is configured to construct the parking route according to the second driving data.

[0122] Regarding the parking device 600 in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0123] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon. When the program instructions are executed by a processor, the steps of the parking method provided by the present disclosure are implemented.

[0124] Figure 7 700 is a block diagram of a vehicle according to an exemplary embodiment. For example, vehicle 700 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 700 may be an autonomous vehicle or a semi-autonomous vehicle.

[0125] Reference Figure 7 , the vehicle 700 may include various subsystems, such as an infotainment system 710, a perception system 720, a decision control system 730, a drive system 740, and a computing platform 770. The vehicle 700 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 700 may be interconnected by wire or wireless means.

[0126] In some embodiments, the infotainment system 710 may include a communication system, an entertainment system, and a navigation system, etc.

[0127] The perception system 720 may include several sensors for sensing information about the environment around the vehicle 700. For example, the perception system 720 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0128] The decision control system 730 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0129] The drive system 740 may include components that provide power movement for the vehicle 700. In one embodiment, the drive system 740 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0130] Some or all functions of the vehicle 700 are controlled by a computing platform 770. The computing platform 770 may include at least one processor 771 and a memory 772, and the processor 771 may execute instructions 773 stored in the memory 772.

[0131] The processor 771 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0132] Memory 772 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0133] In addition to instructions 773 , memory 772 may also store data, such as road maps, route information, vehicle location, direction, speed, etc. The data stored in memory 772 may be used by computing platform 770 .

[0134] In the embodiment of the present disclosure, the processor 771 may execute the instruction 773 to complete all or part of the steps of the above-mentioned parking method.

[0135] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and the computer program has a code portion for executing the above parking method when executed by the programmable device.

[0136] Those skilled in the art may also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application may be implemented by electronic hardware, computer software, or a combination of the two. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the functions described for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present application.

[0137] In the above detailed description, terms such as "center", "upper", "lower", "left", "right", etc. indicate directions or represent positional relationships. Since the components of the described device can be positioned in a plurality of different orientations, the directional terms can be used for illustrative purposes rather than limiting. It should be understood that other aspects can be utilized and structural or logical changes can be made without departing from the concepts of the present disclosure. Therefore, the following detailed description should not be viewed in a limiting sense.

[0138] It should be understood that the features of some embodiments of the various present disclosures described herein may be combined with each other, unless specifically stated otherwise.

[0139] Although terms such as "first", "second" and "third" can be used herein to describe various components, parts, regions, layers or sections, these components, parts, regions, layers or sections are not limited to these terms. On the contrary, these terms are only used to distinguish one component, component, region, layer or section from another component, component, region, layer or section. Therefore, without departing from the teachings of each example, the first component, component, region, layer or section mentioned in the examples described herein may also be referred to as the second component, component, region, layer or section. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may expressly or implicitly include at least one of the features. In the description herein, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0140] In addition, the word "exemplary" is used herein to indicate serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a specific way. As used herein, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X applies A; X applies B; or X applies both A and B, "X applies A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0141] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if the structure is not equivalent to the disclosed structure. In addition, although specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and beneficial to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in a specific embodiment or claim, such terms are intended to be inclusive in a manner similar to the term "comprising".

[0142] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0143] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A parking method, characterized in that: include: Obtaining a target route corresponding to the target site, the target route being obtained based on a historical route of the vehicle arriving at and / or leaving the target parking space at the target site; Determine the target free parking space search start strategy; Initiate a target vacant parking space search along the target route according to the target vacant parking space search initiation strategy; When a target vacant parking space is found, the vehicle is controlled to park in the target vacant parking space.

2. The parking method according to claim 1, characterized in that: The target vacant parking space search initiation strategy includes a first strategy, wherein the first strategy is to initiate the target vacant parking space search when the target parking space is occupied.

3. The parking method according to claim 2, characterized in that: The target route includes an exit route from the target parking space to the target site exit; The step of starting the target vacant parking space search along the target route according to the target vacant parking space search start strategy includes: According to the first strategy, when the target parking space is occupied, a free parking space is searched along the parking route.

4. The parking method according to claim 1, characterized in that: The target vacant parking space search initiation strategy includes a second strategy, wherein the second strategy is to initiate the target vacant parking space search in response to the target vacant parking space search initiation information input by the user.

5. The parking method according to claim 1, characterized in that: The target vacant parking space search start strategy includes a third strategy, and the third strategy is to start the target vacant parking space search when the distance between the vehicle and the target parking space reaches a preset distance value.

6. The parking method according to claim 5, characterized in that: The preset distance may be adjusted in response to user input or automatically adjusted according to free parking space data of the target site.

7. The parking method according to claim 4 or 5, characterized in that: When a target vacant parking space is found, before controlling the vehicle to park in the target vacant parking space, the method further includes: If an empty parking space is found before reaching the target parking space, the empty parking space is determined as the target empty parking space.

8. The parking method according to claim 4 or 5, characterized in that: When a target vacant parking space is found, before controlling the vehicle to park in the target vacant parking space, the method further includes: If no vacant parking space is found when arriving at the target parking space, it is first determined whether the target parking space is occupied.

9. The parking method according to claim 8, characterized in that: The method further comprises: When the target parking space is not occupied, the target parking space is determined as the target vacant parking space.

10. The parking method according to claim 8, characterized in that: The method further comprises: When the target parking space is occupied, continue searching for an empty parking space along the target route.

11. The parking method according to any one of claims 1 to 5, characterized in that: When a target vacant parking space is found, before controlling the vehicle to park in the target vacant parking space, the method further includes: When no vacant parking space is found upon arrival at the target parking space and the target parking space is occupied, the vehicle is controlled to stay for a preset time and / or a prompt message is output to the user.

12. The parking method according to claim 11, characterized in that: The prompt information includes prompting the user whether to take over the vehicle, and the method further includes: If the user takes over the vehicle, the search for an empty parking space is stopped; or, if the user does not take over the vehicle, the search for an empty parking space continues along the target route.

13. The parking method according to claim 11, characterized in that: The prompt information includes prompting the user that the user has arrived at the target parking space.

14. The parking method according to claim 1, characterized in that: The step of determining a target free parking space search start strategy includes: Present multiple candidate search initiation strategies to the user; Based on the user selection, the candidate search start strategy selected by the user is determined as the target vacant parking space search start strategy.

15. The parking method according to any one of claims 1 to 5, characterized in that: The step of obtaining a target route corresponding to the target site includes: Obtaining at least one historical route of the target site; A historical route among the at least one historical route that passes through the target parking space is determined as a target route corresponding to the target site.

16. The parking method according to any one of claims 1 to 5, characterized in that: The target parking space includes at least one of an exclusive parking space, a parking space with the most historical parking times, and a favorite parking space.

17. The parking method according to any one of claims 1 to 5, characterized in that: When a target vacant parking space is found, controlling the vehicle to park in the target vacant parking space comprises: Determining a parking route for the vehicle to the target vacant parking space; The vehicle is controlled to park in the target vacant parking space according to the parking route.

18. The parking method according to any one of claims 1 to 5, characterized in that: The historical route includes a parking route, and the method further includes: In response to a parking route creation request, obtaining first driving data of a vehicle, wherein the first driving data is data detected when the vehicle drives from an entrance of the target site to the target parking space; The parking route is constructed according to the first driving data.

19. The parking method according to any one of claims 1 to 5, characterized in that: The historical route includes a parking route, and the method further includes: In response to a request to create a parking route, obtaining second driving data of the vehicle, where the second driving data is data detected when the vehicle drives from a target parking space to an exit of the target site; The parking route is constructed according to the second driving data.

20. A parking device, characterized in that: include: A first acquisition module is configured to acquire a target route corresponding to a target site, wherein the target route is obtained based on a historical route of a vehicle arriving at and / or leaving a target parking space at the target site; A first determination module is configured to determine a target vacant parking space search start strategy; A first search module is configured to start the search for a target vacant parking space along the target route according to the target vacant parking space search start strategy; The first control module is configured to control the vehicle to park in the target vacant parking space when a target vacant parking space is found.

21. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to implement the steps of the parking method described in any one of claims 1 to 19 when executed.

22. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the steps of the parking method described in any one of claims 1 to 19 are implemented.

23. A computer program product, characterized in that The method comprises a computer program which, when executed by a processor, implements the steps of the parking method according to any one of claims 1 to 19.

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