Parking control method, vehicle and computer readable storage medium

Abstract

The invention discloses a parking control method, a vehicle and a computer readable storage medium, and the method comprises the steps: determining a virtual parking space in a preset display image according to the parking space drawing operation of a user in the preset display image when a parking function is in an open state, determining a target parking position in the environment where the vehicle is located according to the virtual parking space, and displaying the target parking position. And controlling the vehicle to park according to the target parking position. Therefore, the parking demand in an environment without a parking space frame or a non-standard parking space can be met, the time cost and the operation cost for a user to find a proper parking space are reduced, the vehicle parking function can be not limited to a standard parking space line and a standard parking posture, the user can freely select a parking position according to the own demand and the field condition, and the user experience is improved. Therefore, the degree of freedom and convenience of parking are improved, and compared with a mode of generating a virtual parking space at a fixed position, the method is more flexible, so that the vehicle use experience of a user can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a parking control method, a vehicle and a computer-readable storage medium. Background Art

[0002] In the related art, after the vehicle recognizes a parking space that can be parked, the user can enable the vehicle's automatic parking function to automatically park the vehicle in the parking space. However, if the vehicle's environment does not contain standard parking space lines, the vehicle cannot recognize the parking space that can be parked, and the automatic parking function fails, causing the user to complete the parking operation by himself, which affects the user's car experience. Summary of the invention

[0003] The present application provides a parking control method, a vehicle and a computer-readable storage medium.

[0004] A parking control method provided in an embodiment of the present application includes:

[0005] When the parking function is turned on, according to the user's parking space drawing operation in the preset display image, a virtual parking space in the preset display image is determined, wherein the preset display image is determined according to the environment where the vehicle is located;

[0006] Determining a target parking position in the environment where the vehicle is located according to the virtual parking space;

[0007] The vehicle is controlled to park according to the target parking position.

[0008] Thus, in the embodiment of the present application, when the parking function is turned on, according to the user's parking space drawing operation in the preset display image, the virtual parking space in the preset display image can be determined, and the target parking position in the environment where the vehicle is located can be determined according to the virtual parking space, and the vehicle can be controlled to park according to the target parking position, thereby realizing the parking demand in the environment without parking space frame or non-standard parking space, thereby reducing the time cost and operation cost of the user to find a suitable parking space, and making the vehicle parking function not limited to the standard parking space line and standard parking position, so that the user can freely choose the parking position according to their own needs and on-site conditions, thereby improving the freedom and convenience of parking. In addition, the virtual parking space in the preset display image can be determined by the user's active drawing, so the determination of the virtual parking space is more flexible, which is more flexible than the method of generating a virtual parking space at a fixed position, thereby improving the user's vehicle use experience to a certain extent.

[0009] In certain embodiments of the present application, when the parking function is turned on, determining a virtual parking space in the preset display image according to a parking space drawing operation of a user in the preset display image includes:

[0010] When the parking function is turned on, determining a straight line segment drawn by the user in the preset display image according to the parking space drawing operation;

[0011] The virtual parking space is determined according to the straight line segment.

[0012] Thus, in the implementation mode of the present application, when the parking function is turned on, according to the parking space drawing operation triggered by the user, the straight line segment drawn by the user in the preset display image can be determined, and the virtual parking space can be determined according to the straight line segment, so that the virtual parking space can be determined based on the straight line segment drawn by the user, and then the user can simply and efficiently complete the determination of the virtual parking space, thereby reducing the difficulty of using the parking function for the user, and to a certain extent, the user's vehicle usage experience can be guaranteed.

[0013] In certain embodiments of the present application, determining the virtual parking space according to the straight line segment includes:

[0014] Determine the location of the parking space according to the location of the starting point of the straight line segment;

[0015] Determine the parking space placement direction according to the direction from the starting point of the straight line segment to the end point of the straight line segment;

[0016] The virtual parking space is determined according to the location of the parking space and the orientation of the parking space.

[0017] Thus, in the implementation mode of the present application, the location of the parking space can be determined according to the location of the starting point of the drawn straight line segment, that is, the parking space placement direction can be determined according to the direction from the starting point of the straight line segment to the end point of the straight line segment, and the virtual parking space in the preset display image can be determined according to the location of the parking space and the parking space placement direction, thereby realizing the determination of the placement position and placement direction of the virtual parking space, and realizing the matching of the virtual parking space with the straight line segment drawn by the user to a certain extent, thereby ensuring the reliability and effectiveness of the virtual parking space.

[0018] In certain embodiments of the present application, the virtual parking space includes a virtual vehicle model and a parking space frame capable of enclosing the virtual vehicle model, and determining the virtual parking space according to the location of the parking space and the parking space placement direction includes:

[0019] According to the location of the parking space and the placement direction of the parking space, the placement position and placement direction of the virtual vehicle model and the placement position and placement direction of the parking space frame are determined.

[0020] In this way, in the implementation mode of the present application, the placement position and placement direction of the virtual vehicle model, as well as the placement position and placement direction of the parking space frame can be determined according to the location of the parking space and the parking space placement direction, thereby completing the determination of the virtual parking space, thereby further improving the matching degree between the virtual parking space and the straight line segment drawn by the user, thereby ensuring the user experience.

[0021] In certain embodiments of the present application, when the parking function is turned on, determining a virtual parking space in the preset display image according to a parking space drawing operation of a user in the preset display image includes:

[0022] When the parking function is turned on, determining a parking space to be processed in the preset display image according to the parking space drawing operation;

[0023] In the case that the parking space to be processed is in contact with the obstacle in the preset display image, a position adjustment process is performed on the parking space to be processed to determine the virtual parking space, wherein the virtual parking space does not contact with the obstacle.

[0024] Thus, in the implementation mode of the present application, when the parking function is turned on, the parking space to be processed in the preset display image can be determined according to the parking space drawing operation, and when the parking space to be processed is in contact with an obstacle in the preset display image, the position of the parking space to be processed is adjusted, thereby determining a virtual parking space that is not in contact with the obstacle, thereby ensuring the rationality of the virtual parking space and further ensuring the stable execution of the vehicle parking function.

[0025] In certain embodiments of the present application, the method further comprises:

[0026] When the parking function is turned on, the virtual parking space is updated according to a new parking space drawing operation of the user in the preset display image.

[0027] In this way, in the implementation mode of the present application, when the parking function is turned on, the virtual parking space can be updated according to the user's new parking space drawing operation in the preset display image, so that the user can flexibly update the virtual parking space, thereby using the parking function simply and efficiently, and further guaranteeing the user's vehicle use experience to a certain extent.

[0028] In certain embodiments of the present application, the method further comprises:

[0029] When the parking function is turned on, the position of the virtual parking space is adjusted according to the user's adjustment operation on the virtual parking space in the preset display image.

[0030] In this way, in the implementation mode of the present application, when the parking function is in the turned-on state, the position of the virtual parking space can be adjusted according to the user's adjustment operation on the virtual parking space in the preset display image, so that the user can adjust the virtual parking space according to actual needs, thereby meeting the user's adjustment needs for the virtual parking space and ensuring the user's vehicle usage experience.

[0031] In certain embodiments of the present application, controlling the vehicle to park according to the target parking position includes:

[0032] If a driving route for the vehicle to travel from the current position to the target parking position without colliding with an obstacle can be planned, and a user-triggered parking start operation is received, the vehicle is controlled to park according to the driving route.

[0033] Thus, in the embodiment of the present application, if a driving route can be planned for the vehicle to travel from the current position to the target parking position without colliding with obstacles, and when a user-triggered parking start operation is received, the vehicle can be controlled to park according to the driving route, thereby ensuring the stability of the vehicle when parking.

[0034] An embodiment of the present application provides a vehicle including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned parking control method is implemented.

[0035] The present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by one or more processors, the parking control method described above is implemented.

[0036] The vehicle and computer-readable storage medium provided in the embodiments of the present application can determine the virtual parking space in the preset display image according to the user's drawing operation of the parking space in the preset display image when the parking function is turned on, and determine the target parking position in the environment where the vehicle is located according to the virtual parking space, and control the vehicle to park according to the target parking position, thereby realizing the parking demand in the environment without parking space frame or non-standard parking space, thereby reducing the time cost and operation cost of the user to find a suitable parking space, and making the vehicle parking function not limited to the standard parking space line and standard parking position, so that the user can freely choose the parking position according to their own needs and on-site conditions, thereby improving the freedom and convenience of parking. In addition, the virtual parking space in the preset display image can be determined by the user's active drawing, so the determination of the virtual parking space is more flexible, which is more flexible than the method of generating a virtual parking space at a fixed position, and thus can improve the user's vehicle use experience to a certain extent.

[0037] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0039] Figure 1 A schematic flow chart of a parking control method in certain embodiments of the present application;

[0040] Figure 2 A schematic diagram of application scenarios in certain embodiments of the present application;

[0041] Figure 3 A schematic diagram of application scenarios in certain embodiments of the present application;

[0042] Figure 4 A schematic diagram of application scenarios in certain embodiments of the present application;

[0043] Figure 5 A schematic diagram of application scenarios in certain embodiments of the present application;

[0044] Figure 6 A schematic flow chart of a parking control method in certain embodiments of the present application;

[0045] Figure 7 A schematic diagram of application scenarios in certain embodiments of the present application;

[0046] Figure 8 A schematic flow chart of a parking control method in certain embodiments of the present application;

[0047] Fig. 9 A schematic flow chart of a parking control method in certain embodiments of the present application;

[0048] Fig.10 A schematic diagram of application scenarios in certain embodiments of the present application;

[0049] Fig.11 A schematic diagram of application scenarios in certain embodiments of the present application;

[0050] Fig.12 A schematic diagram of application scenarios in certain embodiments of the present application;

[0051] Fig.13 A schematic diagram of application scenarios in certain embodiments of the present application;

[0052] Fig.14 A schematic diagram of application scenarios in certain embodiments of the present application;

[0053] Fig.15 A schematic diagram of an application scenario in certain embodiments of the present application. DETAILED DESCRIPTION

[0054] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0055] In the related technology, there is a function called APA (Auto Parking Assist), which supports vehicles to park in parking spaces with standard lines and spaces with significant reference objects. However, the application scenarios of APA are limited by the environment layout and it is difficult to meet users' more diverse parking needs.

[0056] Furthermore, in order to meet users' more diverse parking needs, APA is gradually upgraded. For example, after the user triggers the automatic parking function, a 360° surround view image is displayed on the vehicle display screen (such as the central control display screen), and a "parking space wireframe that coincides with the vehicle position" is displayed in the 360° surround view image. Then, the user can drag and rotate the parking space wireframe with one or two fingers, and after the user triggers the parking function, the vehicle can determine the parking position in the real world based on the position of the parking space wireframe in the 360° surround view image, and perform parking operations at the parking position.

[0057] For another example, after the user triggers the automatic parking function, a 360° surround view image is displayed on the vehicle display screen (such as the central control display screen), and the "parking space wireframe next to the vehicle" is displayed in the 360° surround view image. Then, the user can drag, rotate, and perform other operations on the parking space wireframe with one or two fingers. After the user triggers the start of the parking function, the vehicle can determine the parking position in the real world based on the position of the parking space wireframe in the 360° surround view image, and perform parking operations at the parking position.

[0058] However, although the upgraded APA can meet the users' parking needs to a certain extent, when the users want to park their vehicles far away from the vehicles, since the initial position of the parking space wireframe coincides with the vehicle or is located next to the vehicle, the users need to drag and / or rotate the parking space wireframe significantly. The user intervention level is high and the parking intelligence level is insufficient, resulting in a poor parking experience for users.

[0059] Based on the above problems you may encounter, please refer to Figure 1, the embodiment of the present application provides a parking control method, comprising:

[0060] 01: When the parking function is turned on, according to the user's parking space drawing operation in the preset display image, a virtual parking space in the preset display image is determined, wherein the preset display image is determined according to the environment where the vehicle is located;

[0061] 02: Determine the target parking position in the environment where the vehicle is located based on the virtual parking space;

[0062] 03: Control the vehicle to park according to the target parking position.

[0063] The embodiment of the present application provides a parking control device. The parking control method of the embodiment of the present application can be implemented by the parking control device of the embodiment of the present application. Specifically, the control device includes a parking space determination module, a position determination module and a control module. Among them, the parking space determination module is used to determine a virtual parking space in a preset display image according to a user's parking space drawing operation in a preset display image when the parking function is turned on, and the preset display image is determined according to the environment where the vehicle is located. The position determination module is used to determine a target parking position in the environment where the vehicle is located according to the virtual parking space. The control module is used to control the vehicle to park according to the target parking position.

[0064] The embodiment of the present application also provides a vehicle, which includes a memory and a processor. The parking control method of the embodiment of the present application can be implemented by the vehicle of the embodiment of the present application. Specifically, a computer program is stored in the memory, and the processor is used to determine a virtual parking space in a preset display image according to a user's parking space drawing operation in a preset display image when the parking function is turned on, and to determine a target parking position in the environment where the vehicle is located according to the virtual parking space, and to control the vehicle to park according to the target parking position, wherein the preset display image is determined according to the environment where the vehicle is located.

[0065] Specifically, in the embodiment of the present application, when the parking function is turned on, the vehicle can determine a virtual parking space in the preset display image according to the user's parking space drawing operation in the preset display image. Then, the vehicle can determine the target parking position in the environment where the vehicle is located according to the virtual parking space. Finally, the vehicle can perform a parking operation according to the target parking position in the environment where the vehicle is located.

[0066] Among them, the parking function can be understood as one of the sub-functions of the vehicle's automatic driving function, which can control the vehicle to park based on a parking position after the user specifies the parking position.

[0067] In one example, the user can turn on the parking function through a combination of one or more methods such as touch click, voice interaction, and physical button click.

[0068] In one example, the preset display image is a bird's-eye view image (or a 360° panoramic image).

[0069] In one example, when the user switches the parking function from an off state to an on state through a combination of one or more methods such as touch clicks, voice interaction, and physical button clicks, the vehicle display components (such as the central control display) can immediately display a preset display image, such as a bird's-eye view image (or a 360° surround view image).

[0070] In an example, please refer to Figure 2 , Figure 3 and Figure 4 , Figure 2 , Figure 3 and Figure 4 Schematic diagrams of application scenarios in certain embodiments of the present application. Specifically, when a display screen of a vehicle display component (such as a central control display) is displayed, Figure 2 When shown, the user can click Figure 2 The "I want to park" button (Button) control 101 in the interface shown. Then, the user can click on Figure 2 After the "I want to park" button (Button) control 101 in the interface shown, the vehicle display components are displayed as follows Figure 3 Then, the vehicle display parts display is as follows Figure 3 After the interface is shown, the user can click Figure 3 After clicking the "Custom Parking" button control 102 in the interface shown in the figure, the vehicle display components are displayed as follows: Figure 4 The interface shown. Figure 4 The image on the right side of the interface shown, which is surrounded by a black-gray frame, is the preset display image 103 .

[0071] In one example, a user may perform a parking space drawing operation in a preset display image, and the vehicle may display a virtual parking space corresponding to the parking space drawing operation in the preset display image, which can indicate the user's desired parking position. Figure 5 , Figure 5 This is a schematic diagram of an application scenario in some embodiments of the present application, that is, Figure 5 As shown, the vehicle can generate and display a virtual parking space 104 according to the user's parking space drawing operation.

[0072] In one example, the parking space drawing operation is a point drawing operation, that is, after the user performs a click operation in the preset display image, the vehicle generates a virtual parking space that can represent the user's desired parking position according to the position of the point corresponding to the click operation, that is, a virtual parking space.

[0073] In one example, the parking space drawing operation is a rectangle drawing operation, that is, after the user draws a rectangle in the preset display image, the vehicle can generate a virtual parking space that can represent the user's desired parking position according to the position of the rectangle, that is, a virtual parking space.

[0074] In one example, after the vehicle determines the virtual parking space, it can determine the target parking position in the environment where the vehicle is located according to the position of the virtual parking space in the preset display image. In other words, after the vehicle determines the virtual parking space, it determines the mapping position of the position in the world coordinate system, that is, the target parking position, according to the position of the virtual parking space in the image coordinate system or pixel coordinate system corresponding to the preset display image.

[0075] In one example, the process of "determining the target parking position in the vehicle's environment based on the position of the virtual parking space in the preset display image" can be determined based on pre-calibrated camera parameters (such as camera intrinsic parameters, camera extrinsic parameters, etc.).

[0076] In one example, when the vehicle determines a target parking position in the environment where the vehicle is located according to a virtual parking space in a preset display image, the vehicle can be controlled to perform a parking operation according to the target parking position.

[0077] In one example, the vehicle may plan a driving path for parking the vehicle into a target parking location, and control the vehicle driving according to the planned driving path.

[0078] Thus, in the embodiment of the present application, when the parking function is turned on, according to the user's parking space drawing operation in the preset display image, the virtual parking space in the preset display image can be determined, and the target parking position in the environment where the vehicle is located can be determined according to the virtual parking space, and the vehicle can be controlled to park according to the target parking position, thereby realizing the parking demand in the environment without parking space frame or non-standard parking space, thereby reducing the time cost and operation cost of the user to find a suitable parking space, and making the vehicle parking function not limited to the standard parking space line and standard parking position, so that the user can freely choose the parking position according to their own needs and on-site conditions, thereby improving the freedom and convenience of parking. In addition, the virtual parking space in the preset display image can be determined by the user's active drawing, so the determination of the virtual parking space is more flexible, which is more flexible than the method of generating a virtual parking space at a fixed position, thereby improving the user's vehicle use experience to a certain extent.

[0079] Moreover, since the virtual parking space can be determined by the user's active drawing, the implementation method of the present application makes the parking function of the vehicle applicable to the situation of "no parking space frame", such as the side parking scene on the roadside, the open scene with parking demand such as the countryside, old residential area, villa, camping ground, etc. It can also be applied to the scene of "unclear parking space frame", such as the scene of parking space frame unclear due to no maintenance in parking lots, parks, scenic spots, etc., and thus the scene of parking space cannot be identified, and it can also meet the parking scene with high personalized posture requirements, break the original rules in the parking space with wire frame, and adjust the posture according to personal special circumstances. In addition, the parking control method proposed in the implementation method of the present application can also be applied to non-parking scenes, that is, the vehicle can make a U-turn through the parking function.

[0080] See also Figure 6 In certain embodiments of the present application, step 01 includes:

[0081] 010: When the parking function is turned on, determine the straight line segment drawn by the user in the preset display image according to the parking space drawing operation;

[0082] 011: Determine the virtual parking space based on the straight line segment.

[0083] The parking space determination module of the implementation mode of the present application is also used to determine the straight line segment drawn by the user in the preset display image according to the parking space drawing operation when the parking function is turned on, and to determine the virtual parking space according to the straight line segment.

[0084] The processor of the embodiment of the present application is also used to determine the straight line segment drawn by the user in the preset display image according to the parking space drawing operation when the parking function is turned on, and to determine the virtual parking space according to the straight line segment.

[0085] Specifically, in the embodiment of the present application, when the parking function is turned on, the user can draw a straight line segment on the preset display image displayed by the touchable display component to complete the parking space drawing operation. Correspondingly, the vehicle can generate and display a virtual parking space on the preset display image according to the straight line segment drawn by the user on the preset display image.

[0086] To more clearly illustrate the implementation methods of this application, please refer to Figure 4 , Figure 5 and Figure 7 , Figure 7 This is a schematic diagram of an application scenario in some embodiments of the present application, that is, Figure 4 As shown in FIG. 1 , when the parking function is turned on, the user can draw a straight line segment on the preset display image 103 displayed by the touch-sensitive display component. Figure 7As shown in FIG. 1 , when the user draws a straight line segment, the straight line segment 105 drawn by the user is displayed on the preset display image 103. Finally, as shown in FIG. Figure 5 As shown, when the user finishes drawing, the vehicle can generate a virtual parking space 104 based on the straight line segment 105 and display it.

[0087] Thus, in the implementation mode of the present application, when the parking function is turned on, according to the parking space drawing operation triggered by the user, the straight line segment drawn by the user in the preset display image can be determined, and the virtual parking space can be determined according to the straight line segment, so that the virtual parking space can be determined based on the straight line segment drawn by the user, and then the user can simply and efficiently complete the determination of the virtual parking space, thereby reducing the difficulty of using the parking function for the user, and to a certain extent, the user's vehicle usage experience can be guaranteed.

[0088] See also Figure 8 In some implementations of the present application, step 011 includes:

[0089] 0110: Determine the location of the parking space based on the starting point of the straight line segment;

[0090] 0111: Determine the parking space placement direction based on the direction from the starting point of the straight line segment to the end point of the straight line segment;

[0091] 0012: Determine the virtual parking space based on the location and orientation of the parking space.

[0092] The parking space determination module of the implementation mode of the present application is also used to determine the location of the parking space according to the location of the starting point of the straight line segment, and to determine the direction of the parking space according to the direction from the starting point of the straight line segment to the end point of the straight line segment, and to determine the virtual parking space according to the location of the parking space and the parking space placement direction.

[0093] The processor of the implementation mode of the present application is also used to determine the location of the parking space according to the location of the starting point of the straight line segment, and to determine the direction of the parking space according to the direction from the starting point of the straight line segment to the end point of the straight line segment, and to determine the virtual parking space according to the location of the parking space and the direction of the parking space.

[0094] Specifically, in order to further optimize the user experience of the parking function, in the embodiment of the present application, when the user draws a straight line segment, the vehicle can determine the location of the virtual parking space according to the location of the starting point of the straight line segment, and determine the location of the virtual parking space, that is, the location of the parking space. At the same time, the vehicle can also determine the placement direction of the virtual parking space according to the direction from the starting point of the straight line segment to the end point of the straight line segment, that is, the parking space placement direction. Finally, the vehicle can determine the virtual parking space in the preset display image according to the determined parking space location and parking space placement direction.

[0095] To more clearly illustrate the implementation methods of this application, please refer to Figure 5 and Figure 7 , that is, Figure 7 As shown, the user draws a straight line segment 105 from top to bottom in the vertical direction. Then, the vehicle can determine the position of the virtual parking space according to the starting point of the straight line segment 105, that is, the parking space position. At the same time, according to the direction from "from the starting point of the straight line segment 105" to "the end point of the straight line segment 105", the placement direction of the virtual parking space is determined, that is, the parking space placement direction. Therefore, as Figure 5 As shown, the vehicle can determine the virtual parking space 104 in the preset display image 103 according to the location of the parking space and the direction of the parking space.

[0096] Thus, in the implementation mode of the present application, the location of the parking space can be determined according to the location of the starting point of the drawn straight line segment, that is, the parking space placement direction can be determined according to the direction from the starting point of the straight line segment to the end point of the straight line segment, and the virtual parking space in the preset display image can be determined according to the location of the parking space and the parking space placement direction, thereby realizing the determination of the placement position and placement direction of the virtual parking space, and realizing the matching of the virtual parking space with the straight line segment drawn by the user to a certain extent, thereby ensuring the reliability and effectiveness of the virtual parking space.

[0097] In certain embodiments of the present application, the virtual parking space includes a virtual vehicle model and a parking space frame capable of enclosing the virtual vehicle model. Then, step 0012 includes:

[0098] According to the location and orientation of the parking space, the placement position and orientation of the virtual vehicle model, and the placement position and orientation of the parking space frame are determined.

[0099] The parking space determination module of the implementation mode of the present application is also used to determine the placement position and placement direction of the virtual vehicle model and the placement position and placement direction of the parking space frame according to the location of the parking space and the parking space placement direction.

[0100] The processor of the implementation mode of the present application is also used to determine the placement position and placement direction of the virtual vehicle model, and the placement position and placement direction of the parking space frame according to the location of the parking space and the parking space placement direction.

[0101] Specifically, in order to enable users to determine the parking effect of the vehicle more intuitively, in an embodiment of the present application, the virtual parking space includes a virtual vehicle model and a parking space frame that can wrap the virtual vehicle model. Furthermore, in the process of determining the virtual parking space in a preset display image, the placement position and placement direction of the virtual vehicle model in the virtual parking space, as well as the placement position and placement direction of the parking space frame in the virtual parking space can be determined based on the straight line segment drawn by the user.

[0102] To more clearly illustrate the implementation methods of this application, please refer to Figure 5 and Figure 7 , that is, Figure 5 and Figure 7 As shown, after the user draws the straight line segment 105 from top to bottom in the vertical direction, the vehicle can make the front of the parking space frame 106 close to the starting point of the straight line segment 105, make the rear of the virtual vehicle model 106 farther than the starting point of the straight line segment 105, and make the "direction from the front of the virtual vehicle model 106 to the rear of the virtual vehicle model 106" parallel to the "direction from the starting point of the straight line segment 105 to the end point of the straight line segment 105".

[0103] At the same time, the vehicle can make one end of the parking space frame 107 close to the starting point of the straight line segment 105, make the other end of the parking space frame 107 farther than the starting point of the straight line segment 105, and make the "length direction of the parking space frame 107" parallel to the "direction from the starting point of the straight line segment 105 to the end point of the straight line segment 105".

[0104] Therefore, if Figure 5 As shown, after drawing a straight line segment, the user can observe the placement position and placement direction of the virtual vehicle model 106, the placement position and placement direction of the parking space frame 107 in the preset display image to understand the parking effect of the vehicle.

[0105] In one example, the size of the virtual vehicle model in the preset display image is determined according to the actual size of the vehicle.

[0106] In one example, the size of the parking space frame in the preset display image is determined according to the size of the virtual vehicle model.

[0107] In this way, in the implementation mode of the present application, the placement position and placement direction of the virtual vehicle model, as well as the placement position and placement direction of the parking space frame can be determined according to the location of the parking space and the parking space placement direction, thereby completing the determination of the virtual parking space, thereby further improving the matching degree between the virtual parking space and the straight line segment drawn by the user, thereby ensuring the user experience.

[0108] See also Fig. 9 In certain embodiments of the present application, step 01 includes:

[0109] 012: When the parking function is turned on, determine the parking space to be processed in the preset display image according to the parking space drawing operation;

[0110] 013: When the parking space to be processed contacts an obstacle in the preset display image, a position adjustment process is performed on the parking space to be processed to determine a virtual parking space, wherein the virtual parking space does not contact the obstacle.

[0111] The parking space determination module of the implementation mode of the present application is also used to determine the parking space to be processed in the preset display image according to the parking space drawing operation when the parking function is turned on, and to adjust the position of the parking space to be processed and determine a virtual parking space when the parking space to be processed is in contact with an obstacle in the preset display image, wherein the virtual parking space does not contact the obstacle.

[0112] The processor of the embodiment of the present application is also used to determine the parking space to be processed in the preset display image according to the parking space drawing operation when the parking function is turned on, and to adjust the position of the parking space to be processed and determine a virtual parking space when the parking space to be processed is in contact with an obstacle in the preset display image, wherein the virtual parking space does not contact the obstacle.

[0113] Specifically, in order to further reduce the difficulty of using the parking function, in an embodiment of the present application, after the vehicle generates a parking space in a preset display image according to the user's parking space drawing operation, it also adjusts the position of the parking space in the preset display image according to the contact between the parking space in the preset display image and the obstacles in the image, so that the parking space does not contact the obstacles.

[0114] To more clearly illustrate the implementation of this application, please refer to Fig.10 , Fig.10 Schematic diagram of application scenarios in certain embodiments of the present application. Specifically, when the vehicle determines a parking space 108 to be processed in the preset display image according to the parking space drawing operation of the user, if the parking space 108 to be processed in the preset display image contacts an obstacle 109 in the preset display image, similar to Fig.10 As shown in the pattern above the middle arrow, the vehicle can adjust the position of the parking space 108 to be processed, such as by translation, rotation, etc., so that the parking space 108 to be processed is not in contact with the obstacle 109, similar to the following. Fig.10 As shown in the pattern below the arrow.

[0115] In one example, the parking space to be processed may include an inner frame and an outer frame, and then the vehicle may determine the adjustment method of the parking space to be processed according to the contact degree between the obstacle and the inner frame and the outer frame respectively.

[0116] For example, see Fig.11 , Fig.11 This is a schematic diagram of an application scenario in some embodiments of the present application, that is, Fig.11 As shown in the pattern above the middle arrow, when the outer frame 110 of the parking space to be processed is in contact with the obstacle 109, and the inner frame 111 of the parking space to be processed is not in contact with the obstacle 109, the vehicle can adjust the position of the parking space to be processed, such as by translation, rotation, etc., so that the inner frame 111 and the outer frame 110 of the parking space to be processed are not in contact with the obstacle 109, that is, similar to Fig.11 As shown in the pattern below the arrow.

[0117] In contrast, if the outer frame 110 of the parking space to be processed contacts the obstacle 109, and the inner frame 111 of the parking space to be processed also contacts the obstacle 109, the vehicle can determine that the parking space to be processed cannot be used for parking, and then a preset prompt message such as "Please redraw" can be displayed to guide the user to perform a new parking space drawing operation.

[0118] Thus, in the implementation mode of the present application, when the parking function is turned on, the parking space to be processed in the preset display image can be determined according to the parking space drawing operation, and when the parking space to be processed is in contact with an obstacle in the preset display image, the position of the parking space to be processed is adjusted, thereby determining a virtual parking space that is not in contact with the obstacle, thereby ensuring the rationality of the virtual parking space and further ensuring the stable execution of the vehicle parking function.

[0119] In certain embodiments of the present application, the parking control method further includes:

[0120] When the parking function is turned on, the virtual parking space is updated according to the user's new parking space drawing operation in the preset display image.

[0121] The updating module of the embodiment of the present application is used to update the virtual parking space according to the new parking space drawing operation of the user in the preset display image when the parking function is turned on.

[0122] The processor of the embodiment of the present application is also used to update the virtual parking space according to the user's new parking space drawing operation in the preset display image when the parking function is turned on.

[0123] Specifically, considering that the user may mistakenly perform a parking space drawing operation on the preset display image due to factors such as accidental touch, and want to re-perform the parking space drawing operation on the preset display image to allow the vehicle to re-determine the virtual vehicle load, in an embodiment of the present application, the vehicle also has the ability to update the virtual parking space.

[0124] Specifically, in an embodiment of the present application, after the vehicle determines the virtual parking space on the preset display image according to the parking space drawing operation triggered by the user, the vehicle can update the virtual parking space on the preset display image according to a new parking space drawing operation performed by the user.

[0125] To more clearly illustrate the implementation methods of this application, please refer to Fig.12 , Fig.13 as well as Fig.14 , Fig.12 , Fig.13 as well as Fig.14 These are schematic diagrams of application scenarios in certain embodiments of the present application. Fig.12 As shown, the vehicle has determined the first virtual parking space 112 on the preset display image 103 according to the parking space drawing operation performed by the user on the preset display image 103 last time.

[0126] like Fig.13 As shown, the user performs a new parking space drawing operation on the preset display image 103 , and the vehicle generates a drawing line segment 113 on the preset display image 103 according to the new parking space drawing operation.

[0127] like Fig.14 As shown, the vehicle updates the first virtual parking space 112 based on the drawn line segment 113 , thereby matching the position of the first virtual parking space 112 with the drawn line segment 113 , and thereby determining the updated first virtual parking space 112 , or in other words, thereby determining the second virtual parking space 114 .

[0128] Thus, in the implementation mode of the present application, when the parking function is turned on, the virtual parking space can be updated according to the user's new parking space drawing operation in the preset display image, so that the user can flexibly update the virtual parking space and use the parking function simply and efficiently, thereby ensuring the user's vehicle use experience to a certain extent.

[0129] In certain embodiments of the present application, the parking control method further includes:

[0130] When the parking function is turned on, the position of the virtual parking space is adjusted according to the user's adjustment operation on the virtual parking space in the preset display image.

[0131] The parking control device of the embodiment of the present application further includes an adjustment module. The adjustment module is used to adjust the position of the virtual parking space according to the user's adjustment operation on the virtual parking space in the preset display image when the parking function is turned on.

[0132] The processor of the embodiment of the present application is also used to adjust the position of the virtual parking space according to the user's adjustment operation on the virtual parking space in the preset display image when the parking function is turned on.

[0133] Specifically, considering that the user may need to make simple position adjustments to the virtual parking space, in the implementation manner of the present application, the vehicle also provides an adjustment operation for the virtual parking space frame. That is, in the implementation manner of the present application, the vehicle can adjust the position of the virtual parking space according to the user's adjustment operations on the virtual parking space, such as dragging and rotating the virtual parking space.

[0134] In an example, see again Figure 5 , that is, Figure 5As shown, a rotation button control 115 is provided next to the virtual parking space 104 , and then, the user can click the rotation button control 115 to rotate the virtual parking space 104 , or long press the rotation button control 115 and drag the virtual parking space 104 to rotate, thereby realizing the rotation of the virtual parking space 104 .

[0135] In an example, see again Figure 5 , that is, Figure 5 As shown, a translation button control 116 is provided in the virtual parking space 104 , and then, the user can long press the translation button control 116 and drag the virtual parking space 104 to move, thereby realizing the translation of the virtual parking space 104 .

[0136] In an example, see again Figure 5 The user can directly drag, rotate, and perform other operations on the virtual parking space 104 to translate and / or rotate the virtual parking space 104 .

[0137] In one example, specifically Figure 5 As shown, the vehicle can control the display components to display information such as "drag to move the position, press and hold to rotate to change the angle" to prompt the user to adjust the position of the virtual parking space 104.

[0138] In this way, in the implementation mode of the present application, when the parking function is in the turned-on state, the position of the virtual parking space can be adjusted according to the user's adjustment operation on the virtual parking space in the preset display image, so that the user can adjust the virtual parking space according to actual needs, thereby meeting the user's adjustment needs for the virtual parking space and ensuring the user's vehicle usage experience.

[0139] In certain embodiments of the present application, step 03 includes:

[0140] If a driving route can be planned for the vehicle to travel from the current position to the target parking position without colliding with obstacles, and when a user-triggered parking start operation is received, the vehicle is controlled to park according to the driving route.

[0141] The control module of the implementation mode of the present application is also used to control the vehicle to park according to the driving route if a driving route can be planned for the vehicle to travel from the current position to the target parking position without colliding with an obstacle, and when a user-triggered parking start operation is received.

[0142] The processor of the embodiment of the present application is also used to control the vehicle to park according to the driving route if it can plan a driving route for the vehicle to travel from the current position to the target parking position without colliding with an obstacle, and when a user-triggered parking start operation is received.

[0143] Specifically, to ensure the rationality of the parking process, in an embodiment of the present application, after the vehicle determines the target parking position of the vehicle in the real world based on the virtual parking space in the preset display image, the vehicle plans a driving route from the current position to the target parking position without colliding with any obstacle based on a pre-set algorithm or model.

[0144] Furthermore, if the vehicle can plan a "driving route for the vehicle to move from the current position to the target parking position without colliding with any obstacle", the vehicle can be controlled to park according to the driving route when the user confirms parking and triggers the start of the parking operation.

[0145] In one example, when the vehicle is able to plan a "route for the vehicle to move from the current position to the target parking position without colliding with any obstacle", the vehicle can control the virtual parking space in the preset display image to be in a preset highlighted state.

[0146] In one example, when the vehicle is able to plan "a driving route for the vehicle to move from the current position to the target parking position without colliding with any obstacle", the vehicle can control the virtual parking space in the preset display image to be in a preset highlighted state, such as a blue highlighted state.

[0147] In an example, see Fig.15 , Fig.15 This is a schematic diagram of an application scenario in some embodiments of the present application, that is, Fig.15 As shown, when the vehicle is able to plan "a driving route for the vehicle to move from the current position to the target parking position without colliding with any obstacle", the vehicle can display a "Start Parking" button (Button) control 117 in the preset display image, and then the user can click the "Start Parking" button control 117 to execute the start parking operation.

[0148] In one example, when the vehicle is able to plan "a driving route for the vehicle to move from the current position to the target parking position without colliding with any obstacle" and the user has not performed any adjustment operation on the virtual parking space, the vehicle may display the above-mentioned "Start Parking" button (Button) control 117 in the preset display image, and / or control the virtual parking space in the preset display image to be in a preset highlighted state, such as a blue highlighted state.

[0149] Thus, in the embodiment of the present application, if a driving route can be planned for the vehicle to travel from the current position to the target parking position without colliding with obstacles, and when a user-triggered parking start operation is received, the vehicle can be controlled to park according to the driving route, thereby ensuring the stability of the vehicle when parking.

[0150] In certain embodiments of the present application, the parking control method further includes:

[0151] When the parking function is turned on, the virtual parking space is determined according to the user's adjustment operation on the initial virtual parking space in the preset display image.

[0152] The parking control device of the embodiment of the present application further includes an initial parking space adjustment module. The initial parking space adjustment module is used to determine a virtual parking space according to the user's adjustment operation on the initial virtual parking space in the preset display image when the parking function is turned on.

[0153] The processor of the embodiment of the present application is also used to determine the virtual parking space according to the user's adjustment operation on the initial virtual parking space in the preset display image when the parking function is turned on.

[0154] Specifically, in the implementation manner of the present application, in addition to determining a virtual parking space through a parking space drawing operation, the user can also adjust the default initial virtual parking space to determine a virtual parking space.

[0155] To more clearly illustrate the implementation method of this application, please refer to Figure 4 , that is, Figure 4 As shown, when the parking function is turned on, the preset display image 103 also displays an initial virtual parking space 118 .

[0156] In one example, the position of the initial virtual parking space 118 in the preset display image 103 is related to the position of the vehicle in the real world, or in other words, the position of the initial virtual parking space 118 in the preset display image 103 can be determined according to the position of the vehicle in the real world.

[0157] In one example, the user may perform operations such as dragging and rotating the initial virtual parking space 118 to adjust the position of the virtual parking space.

[0158] In one example, the user may drag, rotate, or perform other operations on the initial virtual parking space 118 by controlling the initial virtual parking space with one finger or two fingers, thereby adjusting the position of the virtual parking space.

[0159] In one example, Figure 5 The position adjustment method of the middle virtual parking space 104 can be applied to the position adjustment method of the initial virtual parking space 118 , and will not be described in detail again to avoid repetition.

[0160] In one example, specifically Figure 4 As shown, the vehicle may also display a first prompt message, such as “drag to move the position, rotate to change the angle, or draw a straight line”, etc., to prompt the user to perform a parking space drawing operation or adjust the position of the initial virtual parking space 118 .

[0161] In this way, in the implementation mode of the present application, the user can adjust the position of the initial virtual parking space to determine the virtual parking space according to actual needs, or perform a parking space drawing operation to determine the virtual parking space. The determination of the virtual parking space can be carried out flexibly, which can guarantee the user's experience of the parking function to a certain extent.

[0162] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by one or more processors, the above-mentioned parking control method is implemented.

[0163] In the description of this specification, the descriptions with reference to the terms "specifically", "further", "particularly", "understandably", etc. are intended to mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not intended to refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0164] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0165] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A parking control method, characterized in that: include: When the parking function is turned on, according to the user's parking space drawing operation in the preset display image, a virtual parking space in the preset display image is determined, wherein the preset display image is determined according to the environment where the vehicle is located; Determining a target parking position in the environment where the vehicle is located according to the virtual parking space; The vehicle is controlled to park according to the target parking position.

2. The method according to claim 1, characterized in that The method of determining a virtual parking space in a preset display image according to a parking space drawing operation of a user in a preset display image when the parking function is turned on includes: When the parking function is turned on, determining a straight line segment drawn by the user in the preset display image according to the parking space drawing operation; The virtual parking space is determined according to the straight line segment.

3. The method according to claim 2, characterized in that The determining the virtual parking space according to the straight line segment comprises: Determine the location of the parking space according to the location of the starting point of the straight line segment; Determine the parking space placement direction according to the direction from the starting point of the straight line segment to the end point of the straight line segment; The virtual parking space is determined according to the location of the parking space and the orientation of the parking space.

4. The method according to claim 3, characterized in that The virtual parking space includes a virtual vehicle model and a parking space frame capable of enclosing the virtual vehicle model, and the determining of the virtual parking space according to the location of the parking space and the parking space placement direction includes: According to the location of the parking space and the placement direction of the parking space, the placement position and placement direction of the virtual vehicle model and the placement position and placement direction of the parking space frame are determined.

5. The method according to claim 1, characterized in that The method of determining a virtual parking space in a preset display image according to a parking space drawing operation of a user in a preset display image when the parking function is turned on includes: When the parking function is turned on, determining a parking space to be processed in the preset display image according to the parking space drawing operation; In the case that the parking space to be processed is in contact with the obstacle in the preset display image, a position adjustment process is performed on the parking space to be processed to determine the virtual parking space, wherein the virtual parking space does not contact with the obstacle.

6. The method according to claim 1, characterized in that The method further comprises: When the parking function is turned on, the virtual parking space is updated according to a new parking space drawing operation of the user in the preset display image.

7. The method according to claim 1, characterized in that The method further comprises: When the parking function is turned on, the position of the virtual parking space is adjusted according to the user's adjustment operation on the virtual parking space in the preset display image.

8. The method according to claim 1, characterized in that The controlling the vehicle to park according to the target parking position includes: If a driving route for the vehicle to travel from the current position to the target parking position without colliding with an obstacle can be planned, and a user-triggered parking start operation is received, the vehicle is controlled to park according to the driving route.

9. A vehicle, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 1 to 8 is implemented.

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