Parking method and device and vehicle

Abstract

The invention provides a parking method and device and a vehicle. The parking method can be applied to the field of intelligent driving. The method comprises the steps of obtaining pose information, wherein the pose information comprises pose information of a vehicle in the process that a user drives the vehicle to park in a target parking space; and controlling the vehicle to be automatically parked in the target parking space according to the pose information. The embodiment of the invention can be applied to an intelligent vehicle or an electric vehicle, and the pose information of the vehicle in the process that the user drives the vehicle to park in the target parking space is memorized, so that when the user hopes to park the vehicle in the target parking space next time, the vehicle can park the vehicle in the target parking space through an automatic parking function and the previously memorized pose information. And controlling the vehicle to be automatically parked in the target parking space.

Description

Technical Field

[0001] This application relates to the field of intelligent driving, and more particularly, to a parking method, apparatus, and vehicle. Background Art

[0002] Auto parking (AP) refers to a vehicle automatically parking in a parking space, that is, an autonomous driving system can semi-automatically or fully automatically assist a user in parking the vehicle in a parking space. Auto parking can include auto parking assist (APA), remote parking assist (RPA), and auto valet parking (AVP), etc.

[0003] Currently, some companies have launched parking technologies for transforming parking lots. It is necessary to deploy a perception sensor network in the parking lot (for example, 25 lidars need to be deployed per 3 square meters on average), a wireless communication network, and a parking lot management server, etc. This will result in excessive transformation costs for the parking lot and is difficult to be promoted. For untransformed parking lots, there is still a problem that it is difficult for users to park their vehicles in parking spaces. Summary of the Invention

[0004] This application provides a parking method, apparatus, and vehicle, which helps to improve the user experience during the parking process.

[0005] In a first aspect, a parking method is provided. The method includes: obtaining first pose information, where the first pose information includes the pose information of the vehicle during the process of the user driving the vehicle into the first target parking space; and controlling the vehicle to automatically park into the first target parking space according to the first pose information.

[0006] Based on the above technical solution, by memorizing the pose information of the vehicle during the process of the user driving the vehicle into the target parking space. The next time the user still hopes to park the vehicle into the target parking space, the vehicle can control the vehicle to automatically park into the target parking space through the automatic parking function and the previously memorized pose information, which helps to improve the user's parking experience.

[0007] Exemplarily, for some special parking spaces, by the vehicle actively memorizing the pose information when the user drives the vehicle into the target parking space, the ability boundary of automatic parking can be expanded, the parking efficiency can be improved, and the parking scenario can be expanded. At the same time, it also avoids the process that the user needs to manually park every time when encountering a special parking space, which helps to improve the user's parking experience and also helps to improve the intelligent level of the vehicle.

[0008] The above acquisition of the first pose information can also be understood as the acquisition of a parking trajectory, which includes information of multiple trajectory points, and each trajectory point in the multiple trajectory points corresponds to a pose.

[0009] In some possible implementation manners, acquiring the first pose information includes: when an input indicating the start of memory parking is obtained, acquiring the first pose information.

[0010] In some possible implementation manners, the first pose information includes multiple poses. For example, from pose 1 - N, where N is an integer greater than 1. For another example, pose 1 can be the pose of the vehicle when the user starts the memory parking function.

[0011] In some possible implementation manners, the automatic parking method can be applied to the above - mentioned APA.

[0012] In some possible implementation manners, before acquiring the first pose information, the method further includes: determining that the first target parking space where the user parks the vehicle is a parking space not recognized by the data collected by the vehicle's perception system.

[0013] Exemplarily, the parking spaces not recognized by the data collected by the perception system may include parking spaces on the curb, parking spaces on steps, and parking spaces without planned parking lines. Exemplarily, the parking spaces not recognized by the perception system may also be parking spaces with a relatively complex surrounding environment or extremely narrow (or extremely small) parking spaces.

[0014] In some possible implementation manners, before acquiring the first pose information, the method further includes: acquiring the information of the first target parking space and obtaining an instruction for the user to turn on the APA; according to the instruction, controlling the vehicle to fail to park into the first target parking space.

[0015] Exemplarily, the first target parking space is a narrow parking space or a parking space with special obstacles (such as walls or columns) around it. The parking spaces that can be recognized by the data collected by the perception system above but the vehicle cannot be controlled to park into can also be called unreleased parking spaces, or, such parking spaces can also be understood as parking spaces that can be recognized by the data collected by the perception system but cannot be parked into by the current automatic parking ability.

[0016] In some possible implementations, the first target parking space may also be a parking space with normal dimensions. The vehicle can plan a first parking trajectory for parking into the first target parking space from a first position around the first target parking space. The first parking trajectory includes at least one of a first driving distance, a first number of times of adjusting the steering wheel to park, and a first parking duration during the parking process. The vehicle can also obtain a second parking trajectory when the user drives the vehicle into the first target parking space from a second position (for example, the distance from the second position to the first position is less than or equal to a preset distance). The second parking trajectory may include a second driving distance, a second number of times of adjusting the steering wheel to park, and a second parking duration. The obtaining of the first pose information includes: when at least one of the first driving distance being greater than the second driving distance, the first number of times of adjusting the steering wheel to park being greater than the second number of times, and the first parking duration being greater than the second parking duration is satisfied, obtaining the first pose information.

[0017] Based on the above technical solution, the vehicle can compare the parking trajectory of the user driving the vehicle into the target parking space with the parking trajectory planned by the vehicle. If it is determined that the parking distance is shorter, the parking duration is shorter, or the number of times of adjusting the steering wheel to park is less when the user drives the vehicle into the target parking space, the pose information of the vehicle during the process of the user driving the vehicle into the target parking space can be memorized. The next time the vehicle can use the memorized pose information to control the vehicle to park into the target parking space. In this way, the parking efficiency of the user can be higher; at the same time, by the vehicle learning the driving habits of the user, the parking ability of the vehicle can be improved.

[0018] Combined with the first aspect, in some implementations of the first aspect, the first pose information includes information of multiple poses. Controlling the vehicle to automatically park into the first target parking space according to the first pose information includes: when the first pose of the vehicle does not match any of the multiple poses, controlling the vehicle to adjust from the first pose to a second pose, and the multiple poses include the second pose; controlling the vehicle to automatically park into the first target parking space according to the poses starting from the second pose among the multiple poses.

[0019] Based on the above technical solution, when the current pose of the vehicle does not match any of the memorized multiple poses, the vehicle can first be controlled to adjust the pose to a certain pose among the previously memorized multiple poses, and then control the vehicle to park into the target parking space according to the memorized pose. In this way, the whole process does not require the user to actively intervene, which helps to avoid the cumbersome operations of the user during the process of parking into the target parking space, helps to improve the parking experience of the user, and also helps to improve the intelligence level of the vehicle.

[0020] Combined with the first aspect, in some implementations of the first aspect, the multiple poses indicate multiple positions, and the position indicated by the second pose is the position closest to the position indicated by the first pose among the multiple positions.

[0021] Based on the above technical solution, it is possible to determine, from the previously memorized parking trajectory, a trajectory point closest to the current position of the vehicle according to the current position of the vehicle, so as to control the vehicle to adjust to the pose corresponding to the trajectory point. In this way, the driving distance of the vehicle before parking in the target parking space can be reduced, which helps to reduce the parking duration during the entire parking process, and thus helps to improve the user's parking experience.

[0022] In combination with the first aspect, in some implementation manners of the first aspect, the method further includes: obtaining first environmental information around the first target parking space; when it is detected that second environmental information around the vehicle matches the first environmental information, controlling a prompting device to prompt the user to turn on automatic parking; wherein, controlling the vehicle to automatically park in the first target parking space according to the first pose information includes: when a first input from the user is obtained, controlling the vehicle to automatically park in the first target parking space according to the first pose information, and the first input indicates turning on automatic parking.

[0023] Based on the above technical solution, during the process of the user driving the vehicle into the target parking space, the vehicle can construct environmental information (or map information) around the first target parking space. In this way, when the vehicle arrives around the first target parking space next time, based on the data collected by the perception system and the constructed environmental information, it can be determined that the vehicle has driven to the vicinity of the first target parking space, and thus the user can be prompted to turn on automatic parking.

[0024] In combination with the first aspect, in some implementation manners of the first aspect, obtaining the first environmental information around the first target parking space includes: when it is detected that the speed of the vehicle is less than or equal to a preset speed, obtaining the data collected by the perception system; constructing the first environmental information according to the position of the first target parking space and the data.

[0025] Based on the above technical solution, when the speed of the vehicle is less than or equal to the preset speed, the data collected by the perception system can be obtained, and the first environmental information can be constructed according to the position of the first target parking space and the data. In this way, when constructing the first environmental information, the position of the first target parking space can be combined, and there is no need to use the first environmental information constructed with data far from the first target parking space, which helps to avoid waste of computing resources.

[0026] Exemplarily, the preset speed is 20 kph.

[0027] Exemplarily, the vehicle can construct the first environmental information according to the data collected by the perception system within a preset distance before driving to the first target parking space. For example, the preset distance can be 10 meters.

[0028] In some possible implementation manners, obtaining the first environmental information around the first target parking space includes: when an instruction of a user is obtained, constructing the first environmental information based on data collected by a sensing system, where the instruction is used to indicate constructing the environmental information around the first target parking space.

[0029] Combined with the first aspect, in some implementation manners of the first aspect, obtaining the first pose information includes: when the vehicle cannot identify the first target parking space or the vehicle cannot park into the first target parking space from the current position of the vehicle, obtaining the first pose information.

[0030] Combined with the first aspect, in some implementation manners of the first aspect, the first target parking space includes a parking space on a curb.

[0031] In a second aspect, a parking device is provided, and the device includes: an obtaining unit, configured to obtain first pose information, where the first pose information includes pose information of the vehicle during a process of the user driving the vehicle to park into the first target parking space; and a control unit, configured to control the vehicle to automatically park into the first target parking space according to the first pose information.

[0032] Combined with the second aspect, in some implementation manners of the second aspect, the first pose information includes information of multiple poses, and the control unit is configured to: when the first pose of the vehicle does not match any of the multiple poses, control the vehicle to adjust from the first pose to a second pose, where the multiple poses include the second pose; and control the vehicle to automatically park into the first target parking space according to the poses starting from the second pose among the multiple poses.

[0033] Combined with the second aspect, in some implementation manners of the second aspect, the multiple poses indicate multiple positions, and the position indicated by the second pose is the position closest to the position indicated by the first pose among the multiple positions.

[0034] Combined with the second aspect, in some implementation manners of the second aspect, the obtaining unit is further configured to obtain first environmental information around the first target parking space; and the control unit is further configured to, when second environmental information around the vehicle matches the first environmental information, control a prompting device to prompt the user to turn on automatic parking; and when a first input of the user is obtained, control the vehicle to automatically park into the first target parking space according to the first pose information, where the first input indicates turning on automatic parking.

[0035] Combined with the second aspect, in some implementation manners of the second aspect, the obtaining unit is configured to: when it is detected that the speed of the vehicle is less than or equal to a preset speed, obtain data collected by an out-of-cockpit sensor; and construct the first environmental information according to the position of the first target parking space and the data.

[0036] In combination with the second aspect, in some implementations of the second aspect, the obtaining unit is configured to: obtain the first pose information when the vehicle cannot recognize the first target parking space or the vehicle cannot plan a parking trajectory from the current position of the vehicle to the first target parking space.

[0037] In combination with the second aspect, in some implementations of the second aspect, the first target parking space includes a parking space on the curb.

[0038] In a third aspect, a control device is provided, the device includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit so that the device executes any possible control method in the first aspect.

[0039] In a fourth aspect, a control system is provided, the control system includes a sensing system and a computing platform, and the computing platform includes any possible control device in the second aspect or the third aspect described above.

[0040] In a fifth aspect, the present application provides a vehicle, the vehicle includes any possible control device in the second aspect or the third aspect, or includes the control system described in the fourth aspect above.

[0041] In a sixth aspect, the present application provides a computer program product, the computer program product includes: computer program code, when the computer program code runs on a computer, it causes the computer to execute any possible method in the first aspect above.

[0042] It should be noted that the above computer program code can be stored in whole or in part on a first storage medium, where the first storage medium can be packaged together with the processor or packaged separately from the processor. The embodiments of the present application do not make specific limitations on this.

[0043] In a seventh aspect, the present application provides a computer-readable medium, the computer-readable medium stores program code, when the computer program code runs on a computer, it causes the computer to execute any possible method in the first aspect above.

[0044] In an eighth aspect, the present application provides a chip, the chip includes a circuit, and the circuit is used to execute any possible method in the first aspect above. Description of the Drawings

[0045] Figure 1 It is a schematic block diagram of the functions of the vehicle provided by the embodiments of the present application.

[0046] Figure 2 It is a schematic flowchart of the parking method provided by the embodiments of the present application.

[0047] Figure 3 It is a schematic diagram of an application scenario provided by an embodiment of the present application.

[0048] Figure 4 It is another schematic diagram of an application scenario provided by an embodiment of the present application.

[0049] Figure 5 It is another schematic flowchart of a parking method provided by an embodiment of the present application.

[0050] Figure 6 It is a schematic diagram of an interaction method when a vehicle is first parked in a target parking space provided by an embodiment of the present application.

[0051] Figure 7 It is a schematic diagram of an interaction method when a vehicle travels to the vicinity of a target parking space again provided by an embodiment of the present application.

[0052] Figure 8 It is an HMI provided by an embodiment of the present application.

[0053] Figure 9 It is a schematic flowchart of a parking method provided by an embodiment of the present application.

[0054] Figure 10 It is another HMI provided by an embodiment of the present application.

[0055] Figure 11 It is a schematic block diagram of a parking device provided by an embodiment of the present application. Detailed implementation manners

[0056] Next, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings in the embodiments of the present application. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B; herein, "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. These three situations. "At least one item" means one item or more than one item. For example, "at least one of A and B" is similar to "A and / or B", describing the association relationship of associated objects, indicating that three relationships may exist. For example, at least one of A and B may mean: A exists alone, A and B exist simultaneously, and B exists alone. These three situations.

[0057] In the embodiments of the present application, prefix words such as "first" and "second" are only used to distinguish different described objects, and have no restrictive effect on the position, order, priority, quantity, content, etc. of the described objects. In the embodiments of the present application, the use of prefix words such as ordinal numbers for distinguishing described objects does not constitute a restriction on the described objects. For the statements of the described objects, refer to the description in the claims or the context of the embodiments. It should not be construed as an unnecessary restriction due to the use of such prefix words. In addition, in the description of this embodiment, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0058] Figure 1 FIG. is a schematic functional block diagram of a vehicle 100 provided by an embodiment of the present application. The vehicle 100 may include a perception system 110, a computing platform 120, and a display device 130. Among them, the perception system 110 may include one or more sensors for sensing information about the environment around the vehicle 100. For example, the perception system 110 may include a positioning system, which may be a global positioning system (GPS), or a Beidou system or other positioning systems. For another example, the perception system 110 may include one or more of an inertial measurement unit (IMU), an acceleration sensor, a lidar, a millimeter wave radar, an ultrasonic radar, and a camera device. Exemplarily, the acceleration sensor may include a sensor for detecting the acceleration signal of an air suspension system, or may also include a sensor for the acceleration signal of an ESC.

[0059] Some or all functions of vehicle 100 may be controlled by computing platform 120. The computing platform 120 may include one or more processors, such as processors 121 to 12n (n is a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor may be a circuit with the ability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), or a digital signal processor (DSP), etc.; in another implementation, the processor may achieve certain functions through the logical relationship of hardware circuits, and the logical relationship of the hardware circuits is fixed or can be reconfigured. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the configuration of the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor may also be a hardware circuit designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 120 may further include a memory for storing instructions, and some or all of the processors 121 to 12n may call the instructions in the memory to implement corresponding functions.

[0060] The display device 130 in the cockpit is mainly divided into two categories. The first category is the vehicle display screen; the second category is the projection display screen, such as a head up display (HUD). The vehicle display screen is a physical display screen and an important part of the vehicle infotainment system. Multiple display screens can be set in the cockpit, such as a digital instrument display screen, a central control screen, a display screen in front of the passenger in the co-pilot seat (also called the front passenger), a display screen in front of the left rear passenger, and a display screen in front of the right rear passenger. Even the window can be used as a display screen for display. Head-up display, also known as a head-up display system. It is mainly used to display driving information such as speed and navigation on a display device in front of the driver (such as a windshield). To reduce the driver's line of sight transfer time, avoid pupil changes caused by the driver's line of sight transfer, and improve driving safety and comfort. HUD includes, for example, a combined head-up display (C-HUD) system, a windshield head-up display (W-HUD) system, and an augmented reality head-up display system (AR-HUD). It should be understood that other types of HUD systems may appear as technology evolves, and this application is not limited to this.

[0061] The above display device 130 is described by taking a vehicle-mounted display screen and a projection display screen as examples, and the embodiments of the present application are not limited thereto. For example, the display device 130 can also be a light display screen or a projection screen.

[0062] The vehicle 100 may include an advanced driving assistant system (ADAS), which uses a perception system 110 on the vehicle to obtain information from the vehicle's surroundings, and analyzes and processes the obtained information to achieve functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring / reminders, etc., thereby improving the safety, automation and comfort of vehicle driving. Exemplarily, the ADAS may be located in the above-mentioned computing platform.

[0063] From a logical function perspective, an ADAS system generally includes three main functional modules: a perception system 110, a decision module and an execution module. The perception system 110 senses the vehicle's surroundings through sensors and inputs corresponding real-time data into the decision module; the decision module uses computing devices and algorithms to make corresponding decisions based on the information obtained by the perception module; the execution module takes corresponding actions after receiving the decision signal from the decision module, such as driving, changing lanes, steering, braking, and warnings.

[0064] Under different levels of autonomous driving (L0-L5), based on the information obtained by artificial intelligence algorithms and multiple sensors, ADAS can achieve different levels of autonomous driving assistance. The above levels of autonomous driving (L0-L5) are based on the grading standards of the Society of Automotive Engineers (SAE). Among them, Level L0 is no automation; Level L1 is driving assistance; Level L2 is partial automation; Level L3 is conditional automation; Level L4 is high automation; Level L5 is full automation. For the tasks of monitoring road conditions and making responses at Levels L1 to L3, both the driver and the system complete them together, and the driver needs to take over the dynamic driving tasks. Levels L4 and L5 can completely transform the driver into the role of a passenger. Currently, the functions that ADAS can achieve mainly include but are not limited to: adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, traffic warning / braking at the front intersection, traffic warning / braking at the rear intersection, forward collision warning, lane departure warning, lane keeping assistance, rear collision warning, traffic sign recognition, traffic congestion assistance, highway assistance, etc. It should be understood that the above various functions can have specific modes under different levels of autonomous driving (L0-L5). The higher the level of autonomous driving, the more intelligent the corresponding mode. For example, automatic parking can include APA, RPA, and AVP, etc. For APA, the driver does not need to operate the steering wheel, but still needs to control the accelerator and brake on the vehicle; for RPA, the driver can use a terminal (such as a mobile phone) to remotely park the vehicle outside the vehicle; for AVP, the vehicle can complete parking without a driver. In terms of the corresponding levels of autonomous driving, APA is approximately at the level of L1, RPA is approximately at the level of L2-L3, and AVP is approximately at the level of L4.

[0065] Figure 2 FIG. shows a schematic flowchart of a parking method 200 provided by an embodiment of the present application. The method 200 can be executed by the above vehicle 100, or the method 200 can be executed by the above computing platform 120, or the method 200 can be executed by a system composed of the computing platform 120 and the perception system 110, or the method 200 can be executed by a system-on-a-chip (SoC) in the above computing platform 120, or the method 200 can be executed by a processor, chip, or circuit in the computing platform 120. The method 200 includes:

[0066] S210, obtain first pose information, where the first pose information includes the pose information of the vehicle during the process of the user driving the vehicle into the first target parking space.

[0067] In one embodiment, before obtaining the first pose information, the method further includes: determining that the first target parking space is a parking space not recognized by data collected by the vehicle's perception system.

[0068] Exemplarily, Figure 3 FIG. shows a schematic diagram of an application scenario provided by an embodiment of the present application.

[0069] The vehicle does not recognize the parking space 1 on the curb (in practice, the parking space 1 does not include parking lines) through sensors outside the cockpit (such as cameras or lidar). When it is detected that the user drives the vehicle into the parking space 1 on the curb, the vehicle can actively memorize the pose information during the process of the user driving the vehicle into the parking space 1. As Figure 3 shown, the pose information during the process of the user driving the vehicle into the parking space 1 includes the information of the parking trajectory 1, and the parking trajectory 1 includes trajectory points 1 - 8. Each trajectory point can correspond to a pose of the vehicle. Each pose of the vehicle can correspond to a position coordinate (x, y, z) and attitude information (yaw, pitch, roll). The position coordinate can be a coordinate in the world coordinate system, yaw represents the yaw angle, pitch represents the pitch angle, and roll represents the roll angle.

[0070] Above Figure 3 the example of the parking space on the curb is used for illustration, and the parking spaces not recognized by data collected by the vehicle's perception system can also include parking spaces on steps, parking spaces without planned parking lines, etc.

[0071] In one embodiment, before obtaining the first pose information, the method 200 further includes: obtaining the information of the first target parking space and obtaining an instruction for the user to turn on APA; according to the instruction, controlling the vehicle to fail to park in the first target parking space. Exemplarily, the first target parking space is a narrow parking space or a parking space with special obstacles (such as walls or columns) around.

[0072] Exemplarily, Figure 4 FIG. shows another schematic diagram of an application scenario provided by an embodiment of the present application.

[0073] As Figure 4 shown in (a) of, the vehicle recognizes the parking space 2 and detects that the user selects the parking space 2 as the target parking space. The vehicle can prompt the user through the display screen "The parking space 2 is detected as an idle parking space. Do you want to turn on APA?" When it is detected that the user inputs to turn on APA, the vehicle can start to automatically park in the parking space 2.

[0074] As Figure 4 shown in (b) of, when the vehicle fails to automatically park in the parking space 2, the vehicle can prompt the user "Unable to park in the parking space 2. Do you need to memorize the parking trajectory of driving the vehicle into the parking space 2 manually?"

[0075] The failure of the above vehicle to park in the parking space 2 can be understood as that the vehicle cannot plan a parking trajectory from the current position to the parking space 2, or that the vehicle can plan a parking trajectory from the current position to the parking space 2 but there is a high risk of rubbing against surrounding obstacles (such as columns, vehicles in other parking spaces) when parking in the parking space 2 through the parking trajectory. At this time, the vehicle can determine that the parking in the parking space 2 fails.

[0076] In one embodiment, while the vehicle prompts the failure of automatic parking in the parking space 2, it can also prompt the user whether to memorize the parking trajectory of the user driving the vehicle into the parking space 2. When receiving an input indicating that the user wants to memorize the parking trajectory of the user driving the vehicle into the parking space 2, the vehicle can memorize the parking trajectory of the user driving the vehicle into the parking space 2. In this way, the next time the vehicle drives to the vicinity of the parking space 2, it can use APA and the previously memorized parking trajectory to control the vehicle to automatically park in the parking space 2.

[0077] The above memorized parking trajectory of the vehicle can include the pose information during the process of the user driving the vehicle into the parking space 2. For example, the parking trajectory includes multiple trajectory points, and each trajectory point can correspond to a pose.

[0078] In one embodiment, the first target parking space can also be a parking space with normal dimensions. The vehicle can plan a first parking trajectory for parking from a first position around the first target parking space into the first target parking space, and the first parking trajectory includes at least one of the first driving distance, the first number of times of maneuvering the vehicle into the space, and the first parking duration during the parking process. The vehicle can also obtain a second parking trajectory when the user drives the vehicle into the first target parking space from a second position (for example, the distance between the second position and the first position is less than or equal to a preset distance), and the second parking trajectory can include a second driving distance, a second number of times of maneuvering the vehicle into the space, and a second parking duration. Obtaining the first pose information includes: when at least one of the first driving distance is greater than the second driving distance, the first number of times of maneuvering the vehicle into the space is greater than the second number of times of maneuvering the vehicle into the space, and the first parking duration is greater than the second parking duration is satisfied, obtaining the first pose information.

[0079] Exemplarily, at time T1, the vehicle can plan a parking trajectory 1 for parking from position 1 around parking space 3 into parking space 3, and the parking trajectory 1 includes information such as a parking distance (8 meters), the number of times of maneuvering the vehicle into the space (2 times), and a parking duration (for example, 50 seconds). At time T2 after time T1, the vehicle obtains a parking trajectory 2 when the user drives the vehicle into parking space 3 from position 2 around parking space 3 (the distance between position 2 and position 1 is less than or equal to a preset distance (for example, 0.5 meters)). The vehicle can determine whether to use the parking trajectory 2 of the user driving the vehicle into parking space 3 to replace the parking trajectory 1 planned by the vehicle according to the parking trajectory 1 and the parking trajectory 2.

[0080] For example, if the parking distance corresponding to the parking trajectory 2 is 6 meters, the vehicle can use the parking trajectory 2 as the parking trajectory for automatically parking the vehicle into the parking space 3.

[0081] For another example, if the number of times of adjusting the position during parking corresponding to the parking trajectory 2 is 1 time, the vehicle can use the parking trajectory 2 as the parking trajectory for automatically parking the vehicle into the parking space 3.

[0082] For another example, if the parking duration corresponding to the parking trajectory 2 is 30 seconds, the vehicle can use the parking trajectory 2 as the parking trajectory for automatically parking the vehicle into the parking space 3.

[0083] Exemplarily, at time T3, when the vehicle travels around the parking space 3 and detects that the user turns on APA, the vehicle can control the vehicle to park into the parking space 3 according to the parking trajectory 2.

[0084] The above-mentioned adjusting the position during parking at this time can be associated with the number of gear shifts during the process of the vehicle parking into the target parking space. For example, taking the user driving the vehicle into the parking space 3 as an example, if the user can directly park the vehicle into the parking space 3 in the reverse gear (R gear), it means that the user can complete parking through 0 times of adjusting the position during parking; if the user cannot directly park the vehicle into the parking space 3 after shifting to the R gear, and also needs to shift from the R gear to the forward gear (D gear) and drive the vehicle for a certain distance, and then shift from the D gear to the R gear to park the vehicle into the parking space 3, it means that the user completes parking through one time of adjusting the position during parking. And so on, the more times the user shifts between the D gear and the R gear, the more times of adjusting the position during parking can be indicated for the user.

[0085] In the embodiments of the present application, the vehicle can compare the parking trajectory of the user driving the vehicle into the target parking space with the parking trajectory planned by the vehicle. If it is determined that the parking distance, parking duration or the number of times of adjusting the position during parking when the user drives the vehicle into the target parking space is shorter or less, the vehicle pose information during the process of the user driving the vehicle into the target parking space can be memorized. The next time, the vehicle can use the memorized vehicle pose information to control the vehicle to park into the target parking space. In this way, the parking efficiency of the user can be higher; at the same time, by the vehicle learning the driving habits of the user, the parking ability of the vehicle can be improved, and the intelligent level of the vehicle can also be improved.

[0086] S220. Control the vehicle to automatically park into the first target parking space according to the first vehicle pose information.

[0087] In one embodiment, the first pose information includes information of multiple poses. Controlling the vehicle to automatically park in the first target parking space according to the first pose information includes: when the first pose of the vehicle does not match any of the multiple poses, controlling the vehicle to adjust from the first pose to a second pose, where the multiple poses include the second pose; and controlling the vehicle to automatically park in the first target parking space according to the poses starting from the second pose among the multiple poses.

[0088] In one embodiment, when the first pose of the vehicle does not match any of the multiple poses, the vehicle can also prompt to adjust the pose of the vehicle to the second pose.

[0089] When the pose of the vehicle during parking does not match any of the memorized multiple poses, the pose of the vehicle can be first controlled to be adjusted to a certain pose among the previously memorized multiple poses, and then the vehicle can be controlled to park in the target parking space according to the memorized poses. The whole process does not require active intervention by the user, which helps to avoid the cumbersome operations of the user during the process of parking in the target parking space, helps to improve the parking experience of the user, and also helps to improve the intelligence level of the vehicle.

[0090] In one embodiment, the multiple poses indicate multiple positions, and the position indicated by the second pose is the position closest to the position indicated by the first pose among the multiple positions. In this way, the position closest to the current position of the vehicle is determined from the parking trajectory according to the current position of the vehicle, and then the vehicle is controlled to be adjusted to the pose corresponding to the trajectory point. In this way, the driving distance of the vehicle before parking in the target parking space can be minimized as much as possible, which helps to reduce the parking time during the whole parking process and helps to improve the parking experience of the user.

[0091] In one embodiment, the method 200 further includes: obtaining first environmental information around the first target parking space; when it is detected that the second environmental information around the vehicle matches the first environmental information, controlling a prompting device to prompt the user to turn on automatic parking; where controlling the vehicle to automatically park in the first target parking space according to the first pose information includes: when a first input from the user is obtained, controlling the vehicle to automatically park in the first target parking space according to the first pose information, and the first input indicates turning on automatic parking.

[0092] The above first environmental information can also be understood as map information around the first target parking space, and the map information may include information of characteristic objects around the first target parking space. For example, one or more of speed bumps, columns, walls, curbs, parking space numbers of the first target parking space (such as B1-C009), parking space information on columns (such as B1-C area), electric meter boxes, fire hydrants, lamp posts, traffic signs, ground markings, road edges, and ditches around the first target parking space.

[0093] In one embodiment, detecting that the second environmental information around the vehicle matches the first environmental information includes: detecting that at least some of the environmental features around the vehicle are the same as the environmental features in the first environmental information. For example, the first environmental information includes parking space information on a column (e.g., Area B1-C). When the vehicle detects, through a camera outside the cockpit, that the parking space information on the column is the same as the parking space information in the first environmental information, it can control the display screen to prompt that the vehicle is around the target parking space and prompt the user to turn on automatic parking.

[0094] In one embodiment, obtaining the first environmental information around the first target parking space includes: when detecting that the speed of the vehicle is less than or equal to a preset speed, obtaining the data collected by the perception system; and constructing the first environmental information according to the position of the first target parking space and the data.

[0095] Exemplarily, the preset speed is 20 kph.

[0096] Exemplarily, the vehicle can construct the first environmental information according to the data collected by the perception system within a preset distance before driving to the first target parking space. For example, the preset distance can be 10 meters.

[0097] In one embodiment, obtaining the first environmental information around the first target parking space includes: when obtaining a user's instruction, constructing the first environmental information according to the data collected by the perception system, where the instruction is used to indicate constructing the environmental information around the first target parking space.

[0098] In one embodiment, it includes: when the vehicle cannot identify the first target parking space or the vehicle cannot park into the first target parking space from the current position of the vehicle, obtaining the first pose information.

[0099] In one embodiment, the first target parking space includes a parking space on the curb.

[0100] Figure 5 FIG. shows a schematic flowchart of a parking method 500 provided by an embodiment of the present application. The method 500 includes:

[0101] S501, when the target parking space cannot be identified according to the data collected by the perception system, or when the target parking space is identified according to the data collected by the perception system and the motion planning and control module cannot control the vehicle to park into the target parking space, the processing unit controls the prompting device to prompt the user to turn on memory parking.

[0102] The above processing unit may be located in the computing platform 120.

[0103] Exemplarily, the prompting device may be a display screen or a sounding device (e.g., a speaker).

[0104] Exemplarily, when the processing unit cannot identify the target parking space based on the data collected by the perception system, the processing unit can control the display screen to display a prompt message "The target parking space around the vehicle is not detected. Do you want to enable memory parking? During the memory parking process, the parking trajectory of your vehicle entering the target parking space will be memorized."

[0105] Exemplarily, when the processing unit identifies the target parking space based on the data collected by the perception system and the motion planning and control module cannot control the vehicle to park in the target parking space, the processing unit can control the display screen to display a prompt message "Unable to park in the target parking space. Do you want to enable memory parking? During the memory parking process, the parking trajectory of your vehicle entering the target parking space will be memorized."

[0106] S502. When receiving the input for enabling memory parking from the user, the processing unit sends Instruction 1 to the perception system. This Instruction 1 is used to instruct the perception system to collect the environmental data around the target parking space.

[0107] S503. The processing unit sends Instruction 2 to the motion planning and control module. This Instruction 2 is used to instruct the motion planning and control module to memorize the parking trajectory of the user driving the vehicle into the target parking space.

[0108] The above parking trajectory may include multiple trajectory points (for example Figure 3 the trajectory points 1 - 8 shown, and each trajectory point may correspond to a pose).

[0109] The above Instruction 2 for instructing the motion planning and control module to memorize the parking trajectory of the vehicle can also be understood as Instruction 2 for instructing the motion planning and control module to memorize the pose information of the vehicle during the process of the user driving the vehicle into the target parking space.

[0110] S504. The perception system sends the environmental data collected by the sensors to the processing unit.

[0111] S505. When the vehicle parks in the target parking space, the motion planning and control module saves the parking trajectory of the user driving the vehicle into the target parking space and sends Instruction 3 to the processing unit. This Instruction 3 is used to instruct the motion planning and control module to have successfully memorized the parking trajectory of the user driving the vehicle into the target parking space.

[0112] Exemplarily, when the processing unit receives this Instruction 3, the processing unit can control the display screen to display a prompt message "The parking trajectory of your vehicle entering the target parking space has been memorized. You can use automatic parking when arriving near the target parking space next time."

[0113] S506. The processing unit constructs the environmental information around the target parking space according to the data sent by the perception system.

[0114] The above processing unit constructs the environmental information around the target parking space, which can also be understood as the processing unit constructs the map information (localmap) around the target parking space.

[0115] The above S501 - S506 can be understood as the process of the vehicle first parking in the target parking space. During this process, the user can drive the vehicle into the target parking space, and the vehicle can memorize the parking trajectory during the process of the user driving the vehicle into the target parking space and construct the environmental information around the target parking space.

[0116] S507. When the environmental information around the vehicle matches the environmental information constructed by the vehicle in S506, the processing unit controls the prompting device to prompt the user to turn on the automatic parking.

[0117] The implementation process of determining that the environmental information around the vehicle matches the environmental information constructed by the vehicle in S506 can refer to the description in the above embodiments and will not be elaborated here.

[0118] In the above S507, it is described by taking the processing unit controlling the prompting device to prompt the user to turn on the automatic parking as an example. The embodiments of the present application are not limited to this. For example, the processing unit can also prompt the user to turn on the assisted human - driving parking. When obtaining the user's confirmation to turn on the assisted human - driving parking, the processing unit can control the display screen to display the information of the parking trajectory memorized in S505. In this way, the user can control the vehicle to drive according to the information of the memorized parking trajectory.

[0119] For example, user A has strong driving ability and can drive the vehicle into the target parking space. The vehicle memorizes the parking trajectory during the process of user A driving the vehicle into the target parking space. When user B with weaker driving ability drives the vehicle to the vicinity of the target parking space, the vehicle can display the previously memorized parking trajectory through the display screen. In this way, user B can also smoothly park the vehicle into the target parking space according to the previously memorized parking trajectory.

[0120] S508. When obtaining the input of the user to turn on the memory - assisted parking, the processing unit sends instruction 4 to the planning and control module, and this instruction 4 is used to instruct to control the vehicle to park in the target parking space.

[0121] S509. The planning and control module controls the vehicle to park in the target parking space according to this instruction 4 and the parking trajectory memorized in S505.

[0122] The above S507 - 509 is the process of the vehicle parking in the target parking space again.

[0123] By memorizing the parking trajectory (or pose information) of the vehicle during the process of the user parking the vehicle into the target parking space, when the user hopes to park the vehicle into the target parking space again next time, the vehicle can control itself to automatically park into the target parking space through the automatic parking function and the previously memorized pose information. For some special parking spaces, by actively memorizing the pose information of the vehicle when the user parks the vehicle into the target parking space, the boundary of the automatic parking ability can be expanded, the parking efficiency can be improved, and the parking scenarios can be expanded. At the same time, it also avoids the process that the user needs to manually park every time when encountering a special parking space, which helps to improve the user's parking experience and also helps to improve the intelligence level of the vehicle.

[0124] The above-mentioned planning and control module and the processing unit can be two independent units. Or, the planning and control module can also be located in the processing unit. The embodiments of the present application do not make specific limitations on this.

[0125] In the above method 500, when the processing unit cannot recognize the parking space through the data collected by the perception system, or when the processing unit can recognize the parking space through the data collected by the perception system and the planning module cannot control the vehicle to park into the target parking space, the vehicle control prompt device prompts the user whether to memorize the parking trajectory of the vehicle when the user parks the vehicle into the target parking space. The embodiments of the present application are not limited to this.

[0126] For example, the vehicle can also not prompt that it will memorize the parking trajectory of the vehicle when the user parks the vehicle into the target parking space. This process can be silent for the user, or the user may not perceive it. In this way, the cumbersome operations of the user can be further reduced. When the user drives the vehicle to the vicinity of the target parking space next time, the vehicle can be controlled to park into the target parking space based on the environment around the target parking space and the actively memorized parking trajectory of the vehicle when the user parks the vehicle into the target parking space.

[0127] Figure 6 The figure shows a schematic diagram of the interaction method when the vehicle provided by the embodiment of the present application parks into the target parking space for the first time.

[0128] When the processing unit cannot recognize the target parking space through the data collected by the perception system, or when the processing unit can recognize the target parking space through the data collected by the perception system and the planning module cannot control the vehicle to park into the target parking space, the processing unit can control the human machine interface (HMI) to prompt the user to drive the vehicle to park into the target parking space. During the process of the user driving the vehicle to park into the target parking space, the perception system can collect data and send the collected data to the processing unit, so that the processing unit constructs the first environment information around the target parking space based on the data; at the same time, the planning and control module can memorize the parking trajectory (or the pose information of the vehicle) during the process of the user driving the vehicle to park into the target parking space.

[0129] Figure 7 The figure shows a schematic diagram of the interaction method 700 when the vehicle provided by the embodiment of the present application drives around the target parking space again. The interaction method 700 includes:

[0130] S701, the sensing system sends the collected data to the processing unit.

[0131] S702, when the second environmental information matches the first environmental information, the processing unit controls the HMI to prompt the user that the environmental matching is successful and prompts the user to turn on memory parking. The second environmental information is determined by the processing unit according to the data sent by the sensing system.

[0132] In one embodiment, if the processing unit determines that there is already an object (for example, another vehicle) on the target parking space according to the data collected by the sensing system, the processing unit can control the prompting device to prompt the user that there is already another vehicle on the target parking space and suggest the user to find another parking space.

[0133] Exemplarily, the processing unit can determine whether the vehicle is around the target parking space according to the data collected by the sensing system and the previously constructed first environmental information.

[0134] Exemplarily, Figure 8 The figure shows a schematic diagram of the HMI provided by the embodiment of the present application. When it is detected that the vehicle is near the target parking space, the vehicle can display a prompt message "It is detected that the vehicle is near the target parking space. Do you want to turn on memory parking?" on the display screen.

[0135] S703, when the processing unit detects an input from the user on the HMI to click to confirm to turn on memory parking, it sends an instruction 4 to the planning and control module.

[0136] S704, the planning and control module can control the vehicle to park in the target parking space according to the instruction 4 and the memorized parking trajectory.

[0137] In one embodiment, when the planning and control module can control the vehicle to park in the target parking space according to the previously memorized parking trajectory, it can also determine the data collected by the sensing system in real time and determine the collision risk between the vehicle and obstacles (for example, pedestrians) during the vehicle parking process. If the planning and control module determines that there is a high collision risk between the vehicle and the obstacles, it can control the vehicle to stop. When there is no collision risk or the collision risk is low between the vehicle and the obstacles, it can continue to control the vehicle to park in the target parking space according to the previously memorized parking trajectory.

[0138] Figure 9 The figure shows a schematic flowchart of the parking method 900 provided by the embodiment of the present application. The method 900 can be an implementation manner for the vehicle to control the vehicle to park in the target parking space according to the previously constructed first environmental information and the memorized parking trajectory. The method 900 includes:

[0139] S901. Obtain the environmental characteristics around the vehicle.

[0140] S902. Determine whether the environmental characteristics around the vehicle match the environmental characteristics in the first environmental information constructed by the vehicle.

[0141] If the environmental characteristics around the vehicle match the environmental characteristics in the first environmental information constructed by the vehicle, execute S903; otherwise, return to continue executing S901.

[0142] S903. Control the prompting device to prompt the user to turn on memory parking.

[0143] S904. When receiving the input that the user turns on memory parking, determine whether the current pose of the vehicle matches the pose in the parking trajectory.

[0144] If the current pose of the vehicle matches a certain pose in the parking trajectory, execute S906; otherwise, execute S905.

[0145] S905. Optimize the current pose of the vehicle.

[0146] In one embodiment, before optimizing the current pose of the vehicle, the method 900 further includes: obtaining the current pose of the vehicle. For example, the vehicle may determine the pose when receiving the input that the user turns on memory parking as the current pose.

[0147] In one embodiment, when the current pose does not match the pose in the parking trajectory, the method 900 further includes: controlling the prompting device to prompt the user to adjust the pose of the vehicle to a certain pose in the parking pose.

[0148] In one embodiment, the parking trajectory includes poses 1 - N, where N is an integer greater than 1, pose 1 is the initial pose, and pose N is the pose of the vehicle after parking in the target parking space. Controlling the prompting device to prompt the user to adjust the pose of the vehicle to a certain pose in the parking pose includes: controlling the display device to display multiple poses in the parking trajectory and prompting the user to adjust the pose of the vehicle to any one of the multiple poses (for example, pose 1).

[0149] Exemplarily, optimizing the current pose of the vehicle includes: controlling the vehicle to adjust from the current pose to pose 1. In this way, after the pose of the vehicle is adjusted to pose 1, the vehicle can control the vehicle to park in the target parking space according to poses 1 - N.

[0150] Exemplarily, Figure 10 shows another HMI provided by the embodiment of the present application.

[0151] Such as Figure 10As shown, the vehicle detects that the current position is around the target parking space and obtains the instruction from the user to activate the automatic parking. When the vehicle determines that the current pose of the vehicle does not match the pose 1 (the pose corresponding to the trajectory point 1) in the memorized parking trajectory (including trajectory points 1-8), it can control the HMI to display a prompt message "Please adjust the pose of the vehicle to the initial pose of the parking trajectory". When it detects that the user controls the vehicle to adjust to the initial pose (such as the above-mentioned pose 1, which is shown as a dashed line in Figure 10 , the vehicle can control the prompting device to prompt the user to release the steering wheel and prompt the vehicle to activate the memory parking.

[0152] The above is an example of the vehicle prompting the user to adjust the vehicle to pose 1, and the embodiments of the present application are not limited to this. For example, when the vehicle determines that the current pose does not match pose 1, it can also first automatically control the vehicle to adjust from the current pose to pose 1, and then control the vehicle to park in the target parking space according to this parking trajectory.

[0153] The non-matching of the current pose of the vehicle with pose 1 can be understood as the distance between the position indicated by the current pose and the position indicated by pose 1 being greater than or equal to a preset distance (for example, 1 meter), or it can also be understood that the attitude indicated by the current pose differs greatly from the attitude indicated by pose 1. For example, the yaw angle indicated by the current pose is greater than or equal to the preset angle compared to the yaw angle indicated by pose 1.

[0154] Exemplarily, the parking trajectory includes poses 1-N, and optimizing the current pose of the vehicle includes: controlling the vehicle to adjust from the current pose to pose n, where the distance between the position indicated by pose n and the position indicated by the current pose is less than or equal to the preset distance, where n is a positive integer, n is greater than or equal to 1 and n is less than N.

[0155] Exemplarily, the parking trajectory includes trajectory points 1-N, and trajectory points 1-N correspond to poses 1-N. Poses 1-N respectively indicate positions 1-N, and the position n indicated by pose n is the position in positions 1-N that is closest to the position indicated by the current pose.

[0156] S906, according to this parking trajectory, control the vehicle to park in the target parking space.

[0157] Exemplarily, if the pose of the vehicle is optimized from the current pose to pose n, the vehicle can be controlled to park in the target parking space according to poses n-N.

[0158] Figure 11The schematic block diagram of the parking device 1100 provided by the embodiment of the present application is shown. The device 1100 includes: an acquisition unit 1110, configured to acquire first pose information, where the first pose information includes the pose information of the vehicle during the process of the user driving the vehicle into the first target parking space; and a control unit 1120, configured to control the vehicle to automatically park into the first target parking space according to the first pose information.

[0159] Optionally, the first pose information includes information of multiple poses, and the control unit 1120 is configured to: when the first pose of the vehicle does not match any of the multiple poses, control the vehicle to adjust from the first pose to a second pose, where the multiple poses include the second pose; and control the vehicle to automatically park into the first target parking space according to the poses starting from the second pose among the multiple poses.

[0160] Optionally, the multiple poses indicate multiple positions, and the position indicated by the second pose is the position closest to the position indicated by the first pose among the multiple positions.

[0161] Optionally, the acquisition unit 1110 is further configured to acquire first environment information around the first target parking space; and the control unit 1120 is further configured to: when the second environment information around the vehicle matches the first environment information, control a prompting device to prompt the user to turn on automatic parking; and when a first input of the user is acquired, control the vehicle to automatically park into the first target parking space according to the first pose information, where the first input indicates turning on automatic parking.

[0162] Optionally, the acquisition unit 1110 is configured to: when the speed of the vehicle is less than or equal to a preset speed, acquire data collected by sensors outside the cockpit; and construct the first environment information according to the position of the first target parking space and the data.

[0163] Optionally, the acquisition unit 1110 is configured to: when the vehicle cannot recognize the first target parking space or the vehicle cannot plan a parking trajectory from the current position of the vehicle to the first target parking space, acquire the first pose information.

[0164] Optionally, the first target parking space includes a parking space on the curb.

[0165] For example, the acquisition unit 1110 may be Figure 1 a computing platform or a processing circuit, a processor, or a controller in the computing platform. Taking the acquisition unit 1110 as the processor 121 in the computing platform as an example, the processor 121 may acquire the pose information during the process of the user driving the vehicle into the target parking space.

[0166] For another example, the control unit 1120 may be Figure 1The computing platform in it, or the processing circuit, processor, or controller in the computing platform. Taking the processor 122 in the control unit 1120 as an example of the processor in the computing platform, the processor 122 can control the vehicle to automatically park in the target parking space according to the pose information obtained by the processor 121.

[0167] The functions implemented by the above acquisition unit 1110 and the functions implemented by the control unit 1120 can be implemented by different processors, or can also be implemented by the same processor. The embodiments of the present application do not limit this.

[0168] It should be understood that the division of each unit in the above device is only a logical function division. In actual implementation, it can be fully or partially integrated into a physical entity, or physically separated. In addition, the units in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or implement the functions of each unit of the device. The processor is, for example, a general-purpose processor, such as a CPU or a microprocessor, and the memory is a memory inside or outside the device. Or, the units in the device can be implemented in the form of a hardware circuit, and the functions of some or all units can be implemented by designing the hardware circuit. The hardware circuit can be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units are implemented by designing the logical relationship of the components in the circuit; again, in another implementation, the hardware circuit can be implemented by a PLD. Taking an FPGA as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured through a configuration file to implement the functions of some or all of the above units. All units of the above device can be all implemented in the form of a processor calling software, or all implemented in the form of a hardware circuit, or some implemented in the form of a processor calling software, and the remaining part implemented in the form of a hardware circuit.

[0169] In the embodiments of the present application, the processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and running capabilities, such as a CPU, a microprocessor, a GPU, or a DSP, etc.; in another implementation, the processor can implement certain functions through the logical relationship of the hardware circuit, and the logical relationship of the hardware circuit is fixed or can be reconstructed. For example, the processor is a hardware circuit implemented by an ASIC or a PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the configuration of the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as a type of ASIC, such as an NPU, a TPU, a DPU, etc.

[0170] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method. For example: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0171] In addition, each unit in the above device can be integrated in whole or in part, or can be independently implemented. In one implementation, these units are integrated together and implemented in the form of an SoC. The SoC can include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The types of the at least one processor can be different. For example, it includes CPU and FPGA, CPU and artificial intelligence processor, CPU and GPU, etc.

[0172] The embodiment of the present application also provides a parking device, which includes a processing unit and a storage unit. The storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit so that the device executes the method or steps executed in the above embodiment.

[0173] Optionally, if the device is located in a vehicle, the above processing unit can be Figure 1 the processors 121 - 12n shown.

[0174] The embodiment of the present application also provides a parking system, which can include a computing platform and a prompting device. The computing platform can include the above device 1100.

[0175] The embodiment of the present application also provides a vehicle, which can include the above parking device 1100 or parking system.

[0176] The embodiment of the present application also provides a computer program product, which includes: computer program code. When the computer program code runs on a computer, it causes the computer to execute the method in the above embodiment.

[0177] The embodiment of the present application also provides a computer-readable medium, which stores program code. When the computer program code runs on a computer, it causes the computer to execute the method in the above embodiment.

[0178] The embodiment of the present application also provides a chip, which includes a circuit for executing the method in the above embodiment.

[0179] In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor or the instructions in the form of software. The method disclosed in combination with the embodiments of the present application can be directly embodied as being executed and completed by the hardware processor, or executed and completed by the combination of the hardware and software modules in the processor. The software module can be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, or power-on erasable programmable memory, register, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method. To avoid repetition, it will not be described in detail here.

[0180] It should be understood that in the embodiments of the present application, this memory may include a read-only memory and a random access memory, and provide instructions and data to the processor.

[0181] It should also be understood that in various embodiments of the present application, the size of the serial numbers of the above processes does not mean the sequence of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0182] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by the combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0183] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated here.

[0184] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some interfaces. The indirect coupling or communication connection of the devices or units can be in an electrical, mechanical, or other form.

[0185] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0186] In addition, each functional unit in various embodiments of the present application may be integrated in a processing unit, may exist physically alone for each unit, or two or more units may be integrated in one unit.

[0187] If the described function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0188] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A parking method, characterized in that, including: obtaining first pose information, where the first pose information includes the pose information of the vehicle during the process of the user driving the vehicle into the first target parking space; controlling the vehicle to automatically park into the first target parking space according to the first pose information.

2. The method according to claim 1, characterized in that The first pose information includes information of multiple poses, and the controlling the vehicle to automatically park into the first target parking space according to the first pose information includes: when the first pose of the vehicle does not match any of the multiple poses, controlling the vehicle to adjust from the first pose to a second pose, and the multiple poses include the second pose; controlling the vehicle to automatically park into the first target parking space according to the poses starting from the second pose among the multiple poses.

3. The method according to claim 2, wherein The multiple poses indicate multiple positions, and the position indicated by the second pose is the position closest to the position indicated by the first pose among the multiple positions.

4. The method according to any one of claims 1 to 3, characterized in that The method further includes: obtaining first environment information around the first target parking space; when it is detected that the second environment information around the vehicle matches the first environment information, controlling a prompting device to prompt the user to turn on automatic parking; wherein, the controlling the vehicle to automatically park into the first target parking space according to the first pose information includes: when a first input of the user is obtained, controlling the vehicle to automatically park into the first target parking space according to the first pose information, and the first input indicates turning on automatic parking.

5. The method according to claim 4, wherein The obtaining the first environment information around the first target parking space includes: when it is detected that the speed of the vehicle is less than or equal to a preset speed, obtaining data collected by a perception system; constructing the first environment information according to the position of the first target parking space and the data.

6. The method according to any one of claims 1 to 5, characterized in that The obtaining the first pose information includes: when the vehicle cannot identify the first target parking space or the vehicle cannot plan a parking trajectory from the current position of the vehicle to the first target parking space, obtaining the first pose information.

7. The method according to claim 6, characterized in that, The first target parking space includes a parking space on the curb.

8. A parking device, characterized in that, including: an obtaining unit, configured to obtain first pose information, where the first pose information includes the pose information of the vehicle during the process of the user driving the vehicle into the first target parking space; a controlling unit, configured to control the vehicle to automatically park into the first target parking space according to the first pose information.

9. The device according to claim 8, characterized in that, The first pose information includes information of multiple poses, and the controlling unit is configured to: when the first pose of the vehicle does not match any of the multiple poses, control the vehicle to adjust from the first pose to a second pose, and the multiple poses include the second pose; control the vehicle to automatically park into the first target parking space according to the poses starting from the second pose among the multiple poses.

10. The device according to claim 9, characterized in that, The multiple poses indicate multiple positions, and the position indicated by the second pose is the position closest to the position indicated by the first pose among the multiple positions.

11. The device according to any one of claims 8 to 10, wherein the obtaining unit is further configured to obtain first environment information around the first target parking space; The control unit is further configured to control a prompting device to prompt a user to turn on automatic parking when second environmental information around the vehicle matches the first environmental information; When a first input of the user is obtained, according to the first pose information, control the vehicle to automatically park into the first target parking space, where the first input indicates turning on automatic parking.

12. The device according to claim 11, characterized in that, The obtaining unit is configured to: When it is detected that the speed of the vehicle is less than or equal to a preset speed, obtain data collected by sensors outside the cockpit; According to the position of the first target parking space and the data, construct the first environmental information.

13. The device according to any one of claims 8 to 12, characterized in that, The obtaining unit is configured to: When the vehicle cannot identify the first target parking space or the vehicle cannot plan a parking trajectory from the current position of the vehicle to the first target parking space, obtain the first pose information.

14. The device according to claim 13, characterized in that, The first target parking space includes a parking space on the curb.

15. A parking device, characterized in that, Comprising: A memory for storing a computer program; A processor for executing the computer program stored in the memory, so that the device executes the method according to any one of claims 1 to 7.

16. A parking system, characterized in that, The control system includes a perception system and a computing platform, and the computing platform includes the method according to any one of claims 1 to 7.

17. A vehicle, characterized in that, Comprises a parking device according to any one of claims 8 to 15, or comprises a parking system according to claim 16.

18. A computer-readable storage medium, characterized in that, A computer program is stored thereon, and when the computer program is executed by a computer, the method according to any one of claims 1 to 7 is implemented.

19. A chip, characterized in that, Comprising: A circuit, and the circuit is configured to execute the method according to any one of claims 1 to 7.

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