Parking method and device, vehicle and readable storage medium

Abstract

The invention relates to a parking method and device, a vehicle and a readable storage medium, and the method comprises the steps: recording vehicle parking data when the vehicle is parked from a target position to a stop position when a memory parking function of the vehicle is triggered; integrating the vehicle parking speed based on time to obtain a first mapping relation between the vehicle parking distance of the vehicle and the time; obtaining the total parking distance of the vehicle according to the total parking time of the vehicle and the first mapping relation; according to the first mapping relation and the vehicle steering angles corresponding to the multiple parking-out times, a second mapping relation between the vehicle parking-out distance and the vehicle steering angles is obtained; when the automatic parking function of the vehicle is triggered, the target vehicle steering angle of the vehicle is determined according to the second mapping relation; and when the vehicle is controlled to be automatically parked from the stop position to the target position, a steering wheel of the vehicle is controlled by adopting the corresponding target vehicle steering angles according to the multiple parking times. According to the invention, the parking training cost can be reduced.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of assisted driving technology, and in particular, to a parking method, a parking device, a corresponding vehicle, and a corresponding computer-readable storage medium. Background Art

[0002] With more and more household cars being launched into the market, family travel increasingly relies on automotive transportation. Facing the growing number of cars in the market with limited parking spaces, the parking problem has become increasingly prominent. Among them, the difficulty of getting out of the car in some narrow parking spaces also plagues the drivers and passengers. For example, the improper parking positions of the vehicles on both sides result in an extremely narrow middle parking space, and the car door cannot be opened after the car is parked in the garage, making it impossible for the people in the car to get out. There are also some parking spaces next to the wall, and the driver's door cannot be opened either after the vehicle is parked.

[0003] However, in the prior art, most current solutions use vehicle body radars to assist the vehicle in planning the parking path, and some even use vision sensors to create a parking space map to achieve automatic parking of the vehicle. The design methods of these solutions require high hardware costs and complex algorithms, making it difficult to apply the automatic parking function to a large number of low-end models, which is helpful to the majority of car consumers. Summary of the Invention

[0004] In view of the above problems, a parking method, device, vehicle, and medium are proposed to overcome or at least partially solve the above problems.

[0005] Specifically, the present invention provides a parking method for a vehicle, and the method includes:

[0006] When the memory parking function of the vehicle is triggered, record the vehicle parking-out data when the vehicle parks out from the target position to the stop position; wherein, the vehicle parking-out data includes the vehicle steering angles corresponding to multiple parking-out times, the total vehicle parking-out time, and the vehicle parking-out speed;

[0007] Integrate the vehicle parking-out speed over time to obtain a first mapping relationship between the vehicle parking-out distance and time;

[0008] Obtain the total vehicle parking-out distance according to the total vehicle parking-out time and the first mapping relationship, and the total vehicle parking-out distance includes the vehicle parking-out distance;

[0009] Obtain a second mapping relationship between the vehicle parking-out distance and the vehicle steering angle according to the first mapping relationship and the vehicle steering angles corresponding to multiple parking-out times;

[0010] When the automatic parking function of the vehicle is triggered, determine the target vehicle steering angle of the vehicle according to the second mapping relationship;

[0011] When controlling the vehicle to automatically park from the stop position to the target position, control the steering wheel of the vehicle by using the corresponding target vehicle steering angle according to multiple parking times.

[0012] Furthermore, the vehicle steering angle is determined according to the steering wheel steering angle.

[0013] Furthermore, when the automatic parking function of the vehicle is triggered, determining the target vehicle steering angle of the vehicle according to the second mapping relationship includes:

[0014] Determine the vehicle parking distances corresponding to multiple parking times of the vehicle;

[0015] According to the vehicle parking distances corresponding to the multiple parking times and the second mapping relationship, determine the target vehicle steering angles respectively corresponding to the multiple parking times.

[0016] Furthermore, the vehicle further includes multiple sensors and a memory. Recording the vehicle parking data when the vehicle parks out from the target position to the stop position includes:

[0017] Periodically collect the vehicle parking data when the vehicle parks out from the target position to the stop position through the multiple sensors;

[0018] Record the vehicle parking data in the memory.

[0019] Furthermore, the vehicle includes an accelerator pedal and a brake pedal. When controlling the vehicle to automatically park from the stop position to the target position, controlling the steering wheel of the vehicle by using the corresponding target vehicle steering angle according to multiple parking times includes:

[0020] When controlling the vehicle to automatically park from the stop position to the target position, control the vehicle to travel at a preset vehicle parking speed, and control the steering wheel of the vehicle by using the corresponding target vehicle steering angle according to multiple parking times;

[0021] Wherein, the vehicle parking speed corresponds to multiple parking times, and the change of the vehicle parking speed corresponding to the multiple parking times is divided into three stages, and the three stages include: an acceleration stage, a constant speed stage, and a deceleration stage;

[0022] Controlling the vehicle to travel at a preset vehicle parking speed includes:

[0023] During the acceleration stage, the vehicle parking speed of the vehicle is accelerated from zero to a set vehicle speed through the accelerator pedal for accelerating travel;

[0024] During the constant speed stage, the vehicle parking speed of the vehicle is controlled to maintain at the set vehicle speed for constant speed travel;

[0025] During the deceleration stage, the vehicle parking speed of the vehicle is decelerated from the set vehicle speed to zero through the brake pedal to stop traveling.

[0026] Further, the determining the vehicle parking distances corresponding to multiple parking times of the vehicle includes:

[0027] Periodically collecting the vehicle parking speed of the vehicle through the sensor;

[0028] Integrating the vehicle parking speed with respect to time to obtain the vehicle parking distance of the vehicle; wherein, the vehicle parking distance corresponds to the multiple parking times.

[0029] Further, the determining the target vehicle steering angles corresponding to multiple parking times according to the vehicle parking distances corresponding to the multiple parking times and the second mapping relationship includes:

[0030] Subtracting the vehicle parking distances corresponding to the multiple parking times from the total vehicle parking-out distance respectively to obtain the target vehicle parking-out distances corresponding to the multiple parking times;

[0031] According to the target vehicle parking-out distances corresponding to the multiple parking times, obtaining the vehicle steering angles corresponding to the multiple parking times from the second mapping relationship as the target vehicle steering angles.

[0032] Further, after controlling the steering wheel of the vehicle according to the corresponding target vehicle steering angles for multiple parking times when controlling the vehicle to automatically park from the stop position to the target position, the method further includes:

[0033] When triggering the automatic parking-out function of the vehicle, controlling the automatic parking-out speed of the vehicle through the accelerator pedal and the brake pedal;

[0034] Periodically collecting the automatic parking-out speed of the vehicle through the sensor; wherein, the automatic parking-out speed corresponds to multiple automatic parking-out times;

[0035] Integrating the automatic parking-out speed with respect to time to obtain the automatic parking-out distances corresponding to the multiple automatic parking-out times;

[0036] According to the automatic parking distances corresponding to the multiple automatic parking times, obtain the steering angles of the parked vehicle corresponding to the multiple automatic parking times respectively from the second mapping relationship;

[0037] When controlling the vehicle to automatically park from the target position to the stop position, control the steering wheel of the vehicle according to the corresponding steering angles of the parked vehicle respectively for the multiple automatic parking times.

[0038] Further, when controlling the vehicle to automatically park from the stop position to the target position, and controlling the steering wheel of the vehicle according to the corresponding steering angles of the target vehicle respectively for the multiple parking times, it further includes:

[0039] If a parking instruction is received, perform the parking operation of the vehicle according to the parking instruction; or,

[0040] If a recall instruction is received, control the vehicle to return to the stop position according to the recall instruction.

[0041] Further, when controlling the vehicle to automatically park from the target position to the stop position, and controlling the steering wheel of the vehicle according to the corresponding steering angles of the parked vehicle respectively for the multiple automatic parking times, it includes:

[0042] If the parking instruction is received, perform the parking operation of the vehicle according to the parking instruction.

[0043] Further, after controlling the steering wheel of the vehicle according to the corresponding steering angles of the parked vehicle respectively for the multiple automatic parking times when controlling the vehicle to automatically park from the target position to the stop position, the method further includes:

[0044] When the memory parking function is triggered again, clear the memory; or,

[0045] If a clear instruction is received, clear the memory according to the clear instruction.

[0046] The present invention also provides a parking device, related to a vehicle, and the device includes:

[0047] A memory parking function trigger module, configured to record the vehicle parking data when the memory parking function of the vehicle is triggered, where the vehicle parking data includes the steering angles of the vehicle corresponding to multiple parking times, the total vehicle parking time, and the vehicle parking speed;

[0048] The first mapping relationship module is used to integrate the vehicle's parking-out speed over time to obtain the first mapping relationship between the vehicle's parking-out distance and time.

[0049] The total vehicle parking-out distance module is used to obtain the total vehicle parking-out distance according to the total vehicle parking-out time and the first mapping relationship, and the total vehicle parking-out distance includes the vehicle's parking-out distance.

[0050] The second mapping relationship module is used to obtain the second mapping relationship between the vehicle's parking-out distance and the vehicle's steering angle according to the first mapping relationship and the vehicle's steering angles corresponding to multiple parking-out times.

[0051] The target vehicle steering angle determination module is used to determine the target vehicle steering angle of the vehicle according to the second mapping relationship when the vehicle's automatic parking-in function is triggered.

[0052] The vehicle automatic parking-in control module is used to control the vehicle's steering wheel according to the corresponding target vehicle steering angles at multiple parking-in times when controlling the vehicle to automatically park in from the stop position to the target position.

[0053] Further, the vehicle's steering angle is determined according to the steering angle of the steering wheel.

[0054] Further, the target vehicle steering angle determination module includes:

[0055] The vehicle parking-in distance determination sub-module is used to determine the vehicle's parking-in distances corresponding to multiple parking-in times of the vehicle.

[0056] The target vehicle steering angle determination sub-module is used to determine the target vehicle steering angles corresponding to multiple parking-in times respectively according to the vehicle's parking-in distances corresponding to multiple parking-in times and the second mapping relationship.

[0057] Further, the vehicle further includes a plurality of sensors and a memory, and the memory parking function trigger module includes:

[0058] The vehicle parking-out data acquisition sub-module is used to periodically acquire the vehicle parking-out data of the vehicle from the target position to the stop position through the plurality of sensors.

[0059] The vehicle parking-out data recording sub-module is used to record the vehicle parking-out data in the memory.

[0060] Further, the vehicle includes an accelerator pedal and a brake pedal, and the vehicle automatic parking-in control module includes:

[0061] The vehicle automatic parking control sub-module is used to control the vehicle to travel at a preset vehicle parking speed and control the vehicle's steering wheel according to the corresponding target vehicle steering angles at multiple parking times when controlling the vehicle to automatically park from the stop position to the target position;

[0062] Wherein, the vehicle parking speed corresponds to multiple parking times, and the change of the vehicle parking speed corresponding to the multiple parking times is divided into three stages, and the three stages include: an acceleration stage, a constant speed stage, and a deceleration stage;

[0063] The vehicle automatic parking control sub-module includes:

[0064] An acceleration unit, configured to accelerate the vehicle parking speed of the vehicle from zero to a set vehicle speed through the accelerator pedal for accelerating travel during the acceleration stage;

[0065] A constant speed unit, configured to control the vehicle parking speed of the vehicle to remain at the set vehicle speed for constant speed travel during the constant speed stage;

[0066] A deceleration unit, configured to decelerate the vehicle parking speed of the vehicle from the set vehicle speed to zero to stop traveling through the brake pedal during the deceleration stage.

[0067] Further, the vehicle parking path determination sub-module includes:

[0068] A vehicle parking speed acquisition sub-module, configured to periodically acquire the vehicle parking speed of the vehicle through the sensor;

[0069] A vehicle parking path sub-module, configured to integrate the vehicle parking speed based on time to obtain the vehicle parking path of the vehicle; wherein, the vehicle parking path corresponds to the multiple parking times.

[0070] Further, the target vehicle steering angle determination sub-module includes:

[0071] A target vehicle parking path unit, configured to subtract the vehicle parking paths corresponding to the multiple parking times from the total vehicle parking path respectively to obtain the target vehicle parking paths corresponding to the multiple parking times respectively;

[0072] A target vehicle steering angle unit, configured to obtain the vehicle steering angles corresponding to the multiple parking times as the target vehicle steering angles from the second mapping relationship according to the target vehicle parking paths corresponding to the multiple parking times.

[0073] Further, after the vehicle automatic parking control module, the device further includes:

[0074] An automatic parking out speed control module, configured to control the automatic parking out speed of the vehicle through the accelerator pedal and the brake pedal when the automatic parking out function of the vehicle is triggered;

[0075] An automatic parking out speed acquisition module, configured to periodically acquire the automatic parking out speed of the vehicle through the sensor; wherein, the automatic parking out speed corresponds to a plurality of automatic parking out times;

[0076] An automatic parking out distance module, configured to integrate the automatic parking out speed based on time to obtain the automatic parking out distances corresponding to the plurality of automatic parking out times;

[0077] A parked vehicle steering angle module, configured to obtain the parked vehicle steering angles corresponding to the plurality of automatic parking out times respectively from the second mapping relationship according to the automatic parking out distances corresponding to the plurality of automatic parking out times;

[0078] A vehicle automatic parking out control module, configured to control the steering wheel of the vehicle by using the corresponding parked vehicle steering angles respectively according to the plurality of automatic parking out times when controlling the vehicle to automatically park out from the target position to the stop position.

[0079] Further, the vehicle automatic parking in control module further includes:

[0080] A vehicle automatic parking in parking sub-module, configured to execute the parking operation of the vehicle according to the parking instruction if the parking instruction is received; or,

[0081] A vehicle automatic parking in withdrawal sub-module, configured to control the vehicle to return to the stop position according to the withdrawal instruction if the withdrawal instruction is received.

[0082] Further, the vehicle automatic parking out control module includes:

[0083] A vehicle automatic parking out parking sub-module, configured to execute the parking operation of the vehicle according to the parking instruction if the parking instruction is received.

[0084] Further, after the vehicle automatic parking out control module, the device further includes:

[0085] A memory clearing module, configured to clear the memory when the memory parking function is triggered again; or, to clear the memory according to the clear instruction if the clear instruction is received.

[0086] The present invention further provides a vehicle, including a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the above-mentioned memory parking method is implemented.

[0087] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above parking method is implemented.

[0088] Advantages of the present invention:

[0089] In an embodiment of the present invention, by the action of the driver triggering the memory parking function of the vehicle, the vehicle parking-out data when the vehicle parks out from the target position to the stop position is recorded. Among them, the vehicle parking-out data includes the vehicle steering angles corresponding to multiple parking-out times, the total vehicle parking-out time, and the vehicle parking-out speed. Integrating the vehicle parking-out speed based on time, a first mapping relationship between the vehicle parking-out distance and time of the vehicle is obtained. Subsequently, according to the total vehicle parking-out time and the first mapping relationship, the total vehicle parking-out distance is obtained. The total vehicle parking-out distance includes the vehicle parking-out distance. According to the first mapping relationship and the vehicle steering angles corresponding to multiple parking-out times, a second mapping relationship between the vehicle parking-out distance and the vehicle steering angle is obtained. When the driver triggers the automatic parking-in function of the vehicle, the target vehicle steering angle of the vehicle can be determined through the second mapping relationship. When controlling the vehicle to automatically park in from the stop position to the target position, the steering wheel of the vehicle is controlled according to the corresponding target vehicle steering angles at multiple parking-in times respectively. Thus, the vehicle can reversely park into the target position according to the previously recorded vehicle parking-out data without manual control. This parking method solves the problem that it is difficult for all the people in the vehicle to get off when in a narrow parking space. It not only realizes that all the people in the vehicle can get on and off at an appropriate position, that is, the stop position, but also can reduce the relevant hardware for parking training and simplify the algorithm in the training process, thereby avoiding the high cost in parking training and preventing the situation of algorithm mis-triggering, making this parking method easier to be widely applied. Description of the Drawings

[0090] Figure 1 is a flowchart of the steps of a parking method according to an embodiment of the present invention;

[0091] Figure 2 is an example diagram of a vehicle parking-out training and a vehicle automatic parking-in scenario according to an embodiment of the present invention;

[0092] Figure 3 is a relationship diagram of the characteristic physical quantities in the vehicle parking-out training and the vehicle automatic parking-in process according to an embodiment of the present invention;

[0093] Figure 4 is an example diagram of the change of the vehicle parking-in speed / automatic parking-out speed in the vehicle automatic parking-in and vehicle automatic parking-out processes according to an embodiment of the present invention;

[0094] Figure 5It is a schematic structural diagram of a parking device according to an embodiment of the present invention. Detailed implementation manners

[0095] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0096] In the related art of automatic vehicle parking, body radar sensors are usually used to assist the vehicle in planning the parking path, and vision sensors are used to create a parking space map to achieve automatic vehicle parking. In the process of using body radar sensors and vision sensors to achieve automatic vehicle parking, based on the inputs of the body radar sensors and vision sensors, a model algorithm needs to be used to establish the environment around the vehicle. At this time, the model algorithm needs to process and analyze a large number of types of data to construct a complete environment model, resulting in high hardware costs required for existing automatic parking technologies, and the involved algorithms are complex, making it difficult for automatic parking methods to be applied to a large number of low-end vehicle models, and unable to bring help to a large number of vehicle consumers.

[0097] The core idea of the embodiment of the present invention is to record the vehicle parking-out data when the vehicle parks out from the target position to the stop position by triggering the action of the vehicle's memory parking function by the driver. Among them, the vehicle parking-out data includes the vehicle steering angles corresponding to multiple parking-out times, the total vehicle parking-out time, and the vehicle parking-out speed. Integrate the vehicle parking-out speed based on time to obtain the first mapping relationship between the vehicle parking-out distance and time. Subsequently, according to the total vehicle parking-out time and the first mapping relationship, obtain the total vehicle parking-out distance, which includes the vehicle parking-out distance. According to the first mapping relationship and the vehicle steering angles corresponding to multiple parking-out times, obtain the second mapping relationship between the vehicle parking-out distance and the vehicle steering angle. When the driver triggers the automatic parking-in function of the vehicle, the target vehicle steering angle of the vehicle can be determined through the second mapping relationship. When controlling the vehicle to automatically park in from the stop position to the target position, the vehicle's steering wheel is controlled according to the corresponding target vehicle steering angles at multiple parking-in times respectively, so that the vehicle can reverse and park into the target position according to the previously recorded vehicle parking-out data without manual control. This parking method solves the problem that it is difficult for all passengers in the vehicle to get off when in a narrow parking space. It not only realizes that all passengers in the vehicle can get on and off at an appropriate position, that is, the stop position, but also can reduce the relevant hardware for parking training and simplify the algorithm in the training process, thereby avoiding the high costs and algorithm mis-triggering situations in parking training, making this parking method easier to be widely applied.

[0098] Refer to Figure 1 , which shows the step flowchart of a parking method according to an embodiment of the present invention. It relates to a vehicle and may include the following steps:

[0099] Step 101, when the memory parking function of the vehicle is triggered, record the vehicle parking-out data when the vehicle parks out from the target position to the stop position; wherein, the vehicle parking-out data includes the vehicle steering angles corresponding to multiple parking-out times, the total vehicle parking-out time, and the vehicle parking-out speed;

[0100] Refer to Figure 2 , which shows an example diagram of a vehicle parking-out training and a vehicle automatic parking-in scenario according to an embodiment of the present invention. The position of the target position P0 is narrow and limited. When the vehicle parks into the target position P0, the door cannot be opened, resulting in the phenomenon that the people in the vehicle cannot get out. Therefore, at this time, the driver can drive the vehicle out of the target position P0 to the stop position P1. The stop position P1 is the position where there is enough space to open the door and the people in the vehicle can get out. Specifically, the process of the vehicle parking out from the target position P0 to the stop position P1 belongs to the vehicle parking-out training process. When all the people in the vehicle get out and there is no one in the vehicle, the driver can operate to make the vehicle automatically park back from the stop position P1 to the target position P0. Specifically, this process belongs to the vehicle automatic parking-in process.

[0101] Refer to Figure 3 , which shows the relationship diagram of the characteristic physical quantities in the vehicle parking-out training and the vehicle automatic parking-in process according to an embodiment of the present invention. As shown in Figure 3 , during the vehicle parking-out training process, the vehicle records the corresponding relationship between the vehicle steering angle, the vehicle parking-out speed, the vehicle parking-out distance, the total vehicle parking-out distance and time, and also records the corresponding relationship between the vehicle parking-in distance and time during the vehicle automatic parking-in process. Figure 3 In Figure 3 , Auto and Drv in

[0102] only serve to distinguish the vehicle parking-out training process and the vehicle automatic parking-in process. For the vehicle automatic parking-in process in Figure 2 and Figure 3 , only the relationship between the vehicle automatic parking-in distance and the vehicle steering angle can be described.

[0103] Table 1

[0104]

[0105]

[0106] As Figure 2 shown, when the driver drives the vehicle into a narrow parking space that is not conducive to the getting on and off of the vehicle occupants, the driver can trigger the memory parking function of the vehicle through the human-machine interaction interface or physical buttons in the vehicle. The vehicle then starts to record the subsequent vehicle departure data, such as Figure 3 shown, specifically including the vehicle departure speed V x (t), the vehicle steering angle S A (t), and the total vehicle departure time T. Here, the vehicle departure data recorded by the vehicle may also include vehicle gear data, the accelerator pedal, and the brake pedal.

[0107] Before triggering the memory parking function of the vehicle, ultrasonic sensors can be set at the vehicle doors. Through the ultrasonic sensors, the obstacles and distances around the vehicle can be detected to determine whether there is enough space to open the doors. When the vehicle system detects obstacles or insufficient space around the vehicle, corresponding prompt messages can be displayed to the driver through the human-machine interaction interface in the vehicle, reminding them to activate the memory parking function, which can avoid potential risks caused by the driver's inattentive observation.

[0108] For the vehicle departure speed, the wheel speeds of the four vehicle wheels can be collected by wheel speed sensors to obtain the vehicle departure speed. For the vehicle steering angle, the steering angle of the steering wheel can be monitored by a steering wheel sensor to determine the vehicle steering angle, or the steering angle of the steering column can be monitored by a steering column sensor to determine the vehicle steering angle, or the steering angle of the wheels can be monitored by wheel angle sensors installed on the wheels to determine the vehicle steering angle. For the vehicle gear data, the vehicle gear data can be collected by a gear sensor. For the accelerator pedal, the relevant data of the accelerator pedal can be obtained from the requested torque sent by the engine. For the brake pedal, the relevant data of the brake pedal can be obtained from the requested braking force sent by the brake.

[0109] In practical applications, the vehicle periodically records the vehicle departure data of the vehicle. To ensure the accuracy of subsequent automatic vehicle parking, the recording period can be set to 500 ms at this time, that is, among multiple departure times, the time interval between each adjacent departure time is 500 ms. It should be noted that the present invention embodiment does not limit the setting of the period for recording the vehicle departure data of the vehicle.

[0110] Step 102: Integrate the vehicle departure speed with respect to time to obtain a first mapping relationship between the vehicle departure distance and time of the vehicle;

[0111] For the real-time vehicle departure speed V that changes with time obtained based on the wheel speed sensor as described above x(t) Integrating based on time, a first mapping relationship between the vehicle's parking-out distance and time can be obtained. The specific formula is as follows:

[0112]

[0113] Here, t in Formula 1 represents the above-mentioned multiple parking-out times. From Formula 1 above, the vehicle's parking-out distances L corresponding to multiple parking-out times can be obtained. Drv (t).

[0114] In related technologies for obtaining the real-time position of a vehicle, most use high-precision positioning devices to collect the real-time position of the vehicle, and complex data operations or algorithms such as positioning calculations, coordinate conversions, and error corrections may be required during the vehicle positioning process. In the embodiments of the present invention, the vehicle's parking-out distances L corresponding to multiple parking-out times can be obtained through a relatively simple speed integration algorithm. Drv (t). During the training process, not only can the positioning device for collecting the vehicle position be omitted, but also complex data operations or algorithms are not required, thereby reducing high hardware costs and preventing the occurrence of algorithm mis-triggering.

[0115] Step 103: Obtain the total vehicle parking-out distance according to the total vehicle parking-out time and the first mapping relationship. The total vehicle parking-out distance includes the vehicle's parking-out distance.

[0116] Among them, the total vehicle parking-out time T can be calculated through vehicle gear data. Specifically, when the memory parking function of the vehicle is triggered, this is the starting time of the vehicle's parking-out training. When the driver shifts the vehicle into the parking gear P, that is, when the vehicle recognizes the current gear as the parking gear through the gear sensor, this is the ending time of the vehicle's parking-out training. The time from the starting time to the ending time of the vehicle's parking-out training is the total vehicle parking-out time T.

[0117] Substitute the total vehicle parking-out time T into t in the above Formula 1, and the total vehicle parking-out distance L can be obtained. Drv (T). It is also possible to obtain the total vehicle parking-out distance L by adding up the vehicle's parking-out distances L corresponding to multiple parking-out times in the above first mapping relationship. Drv (t). Drv (T).

[0118] The starting position of the vehicle's parking-out training is the target position P0, and the ending position of the vehicle's parking-out training is the stop position P1. Here, P0 and P1 are only used for description. In the embodiments of the present invention, it is not necessary to consider positioning the vehicle position through relevant sensors. Therefore, the use of relevant hardware can be reduced during the vehicle's parking-out training process, thereby reducing the hardware cost.

[0119] Step 104: Obtain a second mapping relationship between the vehicle's parking-out distance and the vehicle's steering angle according to the first mapping relationship and the vehicle's steering angles corresponding to multiple parking-out times;

[0120] Specifically, store the vehicle's parking-out distance L Drv (t) and the vehicle's steering angle S A (t) in the vehicle's memory. Thus, a parking mapping relationship between L Drv (t) and S A (t), that is, the above-mentioned second mapping relationship, is established in the vehicle's memory, and the following formula is obtained:

[0121] S A (t x ) = f(L Drv (t x )) (Formula 2)

[0122] Here, t x in Formula 2 represents a specific time of the vehicle's parking-out distance L Drv (t) during the vehicle's parking-out training process. That is, the vehicle's steering angle S Drv (t x ) corresponding to the vehicle's parking-out distance L A (t x ) can be obtained according to the above Formula 2.

[0123] Step 105: When the vehicle's automatic parking-in function is triggered, determine the target vehicle steering angle according to the second mapping relationship;

[0124] The driver can trigger the vehicle's automatic parking-in function through a button on an external hardware device. At this time, the vehicle system will actively shift the vehicle into the reverse gear R, and by controlling the vehicle's accelerator pedal and brake pedal, maintain the vehicle's automatic parking-in behavior at a preset vehicle parking-in speed V set during the vehicle's automatic parking-in process. To ensure the safety during the vehicle's automatic parking-in process, the preset vehicle parking-in speed V set can be set to 3 kph. It should be noted that the present invention embodiment does not limit the preset vehicle parking-in speed.

[0125] Integrate the real-time vehicle parking-in speed V x1 (t1) that changes with time during the vehicle's automatic parking-in process based on time to obtain the vehicle's automatic parking-in distance L Auto (t1), and the specific formula is as follows:

[0126]

[0127] Here, t1 in Formula 3 represents multiple parking times during the vehicle's automatic parking process. At this time, t1 and t x can have the same meaning, that is, multiple parking times during the vehicle's automatic parking process represent the vehicle's parking distance L Drv (t) at multiple specific time points.

[0128] At this time, it is necessary to subtract the automatic parking distance L Drv (T) from the total vehicle parking distance L Auto (t1) to obtain the target vehicle parking distance L Drv (T) - L Auto (t1). Based on the second mapping relationship established in the vehicle's memory above, that is, Formula 2, the following formula can be obtained:

[0129] S A (t1) = f(L Drv (T) - L Auto (t1)) (Formula 4)

[0130] According to the above Formula 4, the corresponding target vehicle steering angle S A (t x ) can be obtained during the vehicle's automatic parking process at multiple parking times.

[0131] Step 106: When controlling the vehicle to automatically park from the stop position to the target position, control the vehicle's steering wheel according to the corresponding target vehicle steering angles at multiple parking times.

[0132] When the driver triggers the vehicle's automatic parking function, the vehicle system will control the vehicle to automatically park from the stop position P1 to the target position P0 according to the data recorded in the above process. At this time, the vehicle system will input the obtained target vehicle steering angle S A (t x ) into the vehicle's steering wheel, so as to realize controlling the vehicle's steering wheel according to the corresponding target vehicle steering angles at multiple parking times.

[0133] When the vehicle's automatic parking distance L Auto (t1) and the total vehicle parking distance L Drv (T) are numerically equal, the vehicle system will determine that the vehicle's automatic parking is completed. At this time, the vehicle system will end the automatic parking function, complete the parking logic, the vehicle system will shift the vehicle into the P gear, straighten the steering wheel, and power off and pull up the electronic handbrake.

[0134] In an embodiment of the present invention, by the action of the driver triggering the memory parking function of the vehicle, the vehicle parking-out data is recorded when the vehicle parks out from the target position to the stop position. Among them, the vehicle parking-out data includes the vehicle steering angles corresponding to multiple parking-out times, the total vehicle parking-out time, and the vehicle parking-out speed. Integrating the vehicle parking-out speed based on time, a first mapping relationship between the vehicle parking-out distance and time of the vehicle is obtained. Subsequently, according to the total vehicle parking-out time and the first mapping relationship, the total vehicle parking-out distance is obtained. The total vehicle parking-out distance includes the vehicle parking-out distance. According to the first mapping relationship and the vehicle steering angles corresponding to multiple parking-out times, a second mapping relationship between the vehicle parking-out distance and the vehicle steering angle is obtained, which is convenient for the driver to determine the target vehicle steering angle of the vehicle through the second mapping relationship when triggering the automatic parking-in function of the vehicle. When controlling the vehicle to automatically park in from the stop position to the target position, the steering wheel of the vehicle is controlled according to the corresponding target vehicle steering angles at multiple parking-in times respectively, so that the vehicle can reverse and park into the target position according to the previously recorded vehicle parking-out data without manual control. This parking method solves the problem that it is difficult for all the people in the vehicle to get off when in a narrow parking space. It not only realizes that all the people in the vehicle can get on and off at an appropriate position, that is, the stop position, but also can reduce the relevant hardware for parking training and simplify the algorithm in the training process, thereby avoiding the high cost and the situation of algorithm mis-triggering in parking training, making this parking method easier to be widely applied.

[0135] In an embodiment of the present invention, the vehicle steering angle is determined according to the steering wheel steering angle.

[0136] Specifically, in an embodiment of the present invention, the vehicle steering angle can be determined not only according to the steering wheel steering angle, but also according to any associated component in the vehicle steering system such as the steering column of the vehicle and the wheels of the vehicle. Among them, the steering wheel steering angle can be monitored through a steering wheel sensor to determine the vehicle steering angle; the steering column steering angle can be monitored through a steering column sensor to determine the vehicle steering angle; the wheel steering angle can be monitored through a wheel angle sensor installed on the wheel to determine the vehicle steering angle. It should be noted that the present invention embodiment does not limit the determination method of the vehicle steering speed.

[0137] In an embodiment of the present invention, step 105, when triggering the automatic parking-in function of the vehicle, determining the target vehicle steering angle of the vehicle according to the second mapping relationship includes:

[0138] Determining the vehicle parking-in distances corresponding to multiple parking-in times of the vehicle;

[0139] According to the vehicle parking-in distances corresponding to the multiple parking-in times and the second mapping relationship, determining the target vehicle steering angles corresponding to the multiple parking-in times respectively.

[0140] Specifically, during the process of automatic vehicle parking, it is necessary to determine the vehicle parking distance corresponding to the vehicle at multiple parking times. Subsequently, according to the vehicle parking distances corresponding to multiple parking times in the second mapping relationship including the corresponding relationship between the distance and the vehicle steering angle, the target vehicle steering angles corresponding to multiple parking times are determined respectively. Through the vehicle parking distances corresponding to multiple parking times and the second mapping relationship, the target vehicle steering angles corresponding to multiple parking times can be determined. Without involving other complex algorithms and hardware for auxiliary adjustment of the vehicle steering angle, the vehicle can perform accurate automatic parking operations under different conditions, avoiding the high hardware costs during the automatic vehicle parking process, improving the accuracy and reliability of the vehicle automatic parking function, which helps to reduce the possibility of algorithm mis-triggering, improve the automatic parking efficiency of the vehicle, and enhance the performance of the parking system.

[0141] In an embodiment of the present invention, the vehicle further includes a plurality of sensors and a memory. In step 101, the vehicle parking data when the vehicle parks out from the target position to the stop position is recorded, including:

[0142] The vehicle parking data when the vehicle parks out from the target position to the stop position is periodically collected by the plurality of sensors;

[0143] The vehicle parking data is recorded in the memory.

[0144] Specifically, in the embodiment of the present invention, the plurality of sensors may specifically include sensors such as wheel speed sensors, steering wheel sensors, steering column sensors, wheel angle sensors, and gear sensors. Through these sensors, vehicle parking data such as the vehicle parking speed, vehicle steering angle, and vehicle gear data corresponding to the vehicle at multiple parking times can be collected.

[0145] The vehicle may include multiple memories, such as NvM (Non-Volatile Memory), RAM (Random Access Memory), and ROM (Read-Only Memory). In the embodiments of the present invention, the vehicle parking-out data is recorded in the NvM, rather than in the RAM or ROM. After the automatic parking-in function of the vehicle ends, the vehicle needs to be powered off. After the vehicle is powered off, the data in the NvM can be saved. And after the vehicle is powered on again, that is, when the automatic parking-out function of the vehicle is triggered, the relevant data stored in the NvM during the vehicle parking-out training can be used. If the data is stored in the RAM, when the vehicle is powered off, the internal data of the RAM will be lost, which will result in the inability to obtain the relevant data during the vehicle parking-out training when the automatic parking-out function of the vehicle is triggered. If the data is stored in the ROM, when the memory parking function of the vehicle is triggered again later, the data recorded during the first vehicle parking-out training cannot be deleted, and there will be a problem that when the memory parking function is triggered multiple times and relevant data needs to be recorded, it cannot be recorded due to insufficient memory space. At the same time, considering the limited storage space of the vehicle's NvM, when the vehicle speed is 0, the vehicle parking-out data at this time is invalid and is not recorded in the NvM.

[0146] In an embodiment of the present invention, the vehicle includes an accelerator pedal and a brake pedal. Step 106, when controlling the vehicle to automatically park from the stop position to the target position, controlling the vehicle's steering wheel according to the corresponding target vehicle steering angles respectively for multiple parking-in times, includes:

[0147] When controlling the vehicle to automatically park from the stop position to the target position, controlling the vehicle to travel at a preset vehicle parking-in speed, and controlling the vehicle's steering wheel according to the corresponding target vehicle steering angles respectively for multiple parking-in times;

[0148] Wherein, the vehicle parking-in speed corresponds to multiple parking-in times, and the change of the vehicle parking-in speed corresponding to the multiple parking-in times is divided into three stages, and the three stages include: an acceleration stage, a constant-speed stage, and a deceleration stage;

[0149] Controlling the vehicle to travel at a preset vehicle parking-in speed includes:

[0150] In the acceleration stage, accelerating the vehicle parking-in speed of the vehicle from zero to a set vehicle speed through the accelerator pedal for accelerating travel;

[0151] In the constant-speed stage, control the vehicle parking-in speed of the vehicle to remain at the set vehicle speed for uniform driving;

[0152] In the deceleration stage, use the brake pedal to decelerate the vehicle parking-in speed of the vehicle from the set vehicle speed to zero to stop driving.

[0153] To ensure the safety during the automatic parking-in process of the vehicle, the vehicle parking-in speed during the automatic parking-in process of the vehicle can be controlled through the accelerator pedal and the brake pedal of the vehicle, at a preset vehicle parking-in speed V set for automatic parking-in. At this time, the preset vehicle parking-in speed V set can be set to 3 kph. It should be noted that the present invention embodiment does not limit the preset vehicle parking-in speed.

[0154] Refer to Figure 4 , which shows an example of the change in the vehicle parking-in speed / automatic parking-out speed during the automatic parking-in / automatic parking-out process of the vehicle in an embodiment of the present invention. Among them, Figure 4 the characteristic physical quantities involved in can refer to Table 1. Specifically, by controlling the vehicle parking-in speed during the automatic parking-in process of the vehicle through the accelerator pedal and the brake pedal of the vehicle, the speed change of the vehicle parking-in speed can be divided into three stages: an acceleration stage, a constant-speed stage, and a deceleration stage. Among them, the speeds in the acceleration stage and the deceleration stage can be fitted according to actual needs, and both linear acceleration and deceleration or non-linear acceleration and deceleration are possible, without uniqueness.

[0155] In an embodiment of the present invention, the determining the vehicle parking-in distances corresponding to multiple parking-in times of the vehicle includes:

[0156] Periodically collect the vehicle parking-in speed of the vehicle through the sensor;

[0157] Integrate the vehicle parking-in speed with respect to time to obtain the vehicle parking-in distance of the vehicle; wherein, the vehicle parking-in distance corresponds to the multiple parking-in times.

[0158] Among them, during the automatic parking-in process of the vehicle, the wheel speeds of the four wheels are collected through a wheel speed sensor, and then the vehicle parking-in speed is calculated. Subsequently, the real-time vehicle parking-in speed V x1 (t1) during the automatic parking-in process of the vehicle with respect to time is integrated to obtain the automatic parking-in distance L Auto (t1) of the vehicle.

[0159] In related technologies for obtaining the real-time position of a vehicle, most use high-precision positioning devices to collect the real-time position of the vehicle, and during the vehicle positioning process, complex data operations or algorithms such as positioning calculations, coordinate conversions, and error corrections may also be required. In the embodiments of the present invention, the vehicle parking-in distance L corresponding to multiple parking-in times can be obtained through a relatively simple speed integration algorithm. Auto (t1). During the training process, not only can the positioning device for collecting the vehicle position be omitted, but also complex data operations or algorithms are not required, thereby reducing high hardware costs and preventing the occurrence of algorithm mis-triggering.

[0160] In an embodiment of the present invention, determining the target vehicle steering angles corresponding to multiple parking-in times according to the vehicle parking-in distances corresponding to the multiple parking-in times and the second mapping relationship includes:

[0161] Subtracting the vehicle parking-in distances corresponding to the multiple parking-in times from the total vehicle parking-out distance respectively to obtain the target vehicle parking-out distances of the vehicle corresponding to the multiple parking-in times;

[0162] According to the target vehicle parking-out distances corresponding to the multiple parking-in times, obtain the vehicle steering angles corresponding to the multiple parking-in times from the second mapping relationship as the target vehicle steering angles.

[0163] Among them, during the automatic parking-in process of the vehicle, it is necessary to subtract the vehicle parking-in distance L Drv (T) from the total vehicle parking-out distance L Auto (t) corresponding to multiple parking-in times to obtain the target vehicle parking-out distance. Subsequently, according to the target vehicle parking-out distances corresponding to multiple parking-in times in the second mapping relationship including the corresponding relationship between the distance and the vehicle steering angle, determine the target vehicle steering angles corresponding to multiple parking-in times respectively. Using the relationship between the total vehicle parking-out distance L Drv (T) and the vehicle parking-in distances L Auto (t) corresponding to multiple parking-in times, through simple subtraction operations, the reverse automatic parking-back of the vehicle during the vehicle parking-out training process can be realized. Without involving other complex algorithms and hardware for assisting in adjusting the vehicle steering angle, the vehicle can perform accurate automatic parking-in operations under different conditions, avoiding high hardware costs during the vehicle automatic parking-in process, improving the accuracy and reliability of the vehicle automatic parking-in function, which helps reduce the possibility of algorithm mis-triggering, improve the automatic parking-in efficiency of the vehicle, and enhance the performance of the parking-in system.

[0164] In an embodiment of the present invention, after step 106, when controlling the vehicle to automatically park from the stop position to the target position, and then controlling the steering wheel of the vehicle according to the corresponding target vehicle steering angles for multiple parking times, the method further includes:

[0165] When triggering the automatic parking out function of the vehicle, control the automatic parking out speed of the vehicle through the accelerator pedal and the brake pedal;

[0166] Periodically collect the automatic parking out speed of the vehicle through the sensor; wherein, the automatic parking out speed corresponds to multiple automatic parking out times;

[0167] Integrate the automatic parking out speed over time to obtain the automatic parking out distances corresponding to the multiple automatic parking out times;

[0168] According to the automatic parking out distances corresponding to the multiple automatic parking out times, obtain the parking out vehicle steering angles respectively corresponding to the multiple automatic parking out times from the second mapping relationship;

[0169] When controlling the vehicle to automatically park out from the target position to the stop position, control the steering wheel of the vehicle according to the corresponding parking out vehicle steering angles for the multiple automatic parking out times.

[0170] Specifically, the driver can trigger the automatic parking out function of the vehicle through a button on an external hardware device. At this time, the vehicle system will actively shift the vehicle into the forward gear D, and by controlling the accelerator pedal and the brake pedal of the vehicle, maintain the vehicle at a preset vehicle parking out speed V set to perform the automatic parking out behavior. To ensure the safety during the vehicle automatic parking out process, the preset vehicle parking out speed V set can be set to 3 kph. It should be noted that the present invention embodiment does not limit the preset vehicle parking out speed.

[0171] The button on the external hardware device that can trigger the automatic parking in function and the automatic parking out function of the vehicle belongs to the same button, and the vehicle system can determine the current working mode based on the driver's input. The working modes include: vehicle parking out training mode, vehicle automatic parking in mode, and vehicle automatic parking out mode. In the vehicle parking out training mode, the driver can start and end the vehicle parking out training mode through the human-machine interface or physical buttons in the vehicle; the vehicle automatic parking in mode follows the vehicle parking out training mode, and it can be determined whether it is in the vehicle automatic parking in mode by whether the driver has left the vehicle, and at the same time receive the button signal of the external hardware device; the vehicle automatic parking out mode is started after the vehicle is powered on again and the vehicle receives the button signal of the external hardware device;

[0172] During the automatic vehicle parking out process, the wheel speeds of the four wheels are collected through wheel speed sensors, and thus the automatic parking out speed V x2 (t2) is calculated. Subsequently, the real-time automatic parking out speed V x2 (t2) that changes with time during the automatic vehicle parking out process is integrated based on time to obtain the automatic parking out distance L Auto1 (t2) of the vehicle. Among them, the above t2 represents multiple automatic parking out times.

[0173] In the related technologies for obtaining the real-time position of a vehicle, most use high-precision positioning devices to collect the real-time position of the vehicle, and complex data operations or algorithms such as positioning calculations, coordinate conversions, and error corrections may also be required during the vehicle positioning process. In the embodiments of the present invention, the automatic parking out distance L Auto1 (t2) corresponding to multiple parking out times can be obtained through a relatively simple speed integration algorithm. During the training process, not only can the positioning device for collecting the vehicle position be omitted, but also complex data operations or algorithms are not required, thereby reducing high hardware costs and preventing the occurrence of algorithm mis-triggering.

[0174] According to the automatic parking out distances corresponding to multiple automatic parking out times, the parking out vehicle steering angles corresponding to multiple automatic parking out times are obtained from the second mapping relationship including the corresponding relationship between the distance and the vehicle steering angle. Without involving other complex algorithms and hardware for assisting in adjusting the vehicle steering angle, the vehicle can perform accurate automatic parking out operations in different situations, avoiding high hardware costs during the automatic vehicle parking out process, improving the accuracy and reliability of the automatic vehicle parking out function, which helps reduce the possibility of algorithm mis-triggering, improve the automatic parking out efficiency of the vehicle, and enhance the performance of the parking in system.

[0175] When the driver triggers the automatic parking out function of the vehicle, the vehicle system will control the vehicle to automatically park out from the target position P0 to the stop position P1 according to the data recorded in the above process for the convenience of passengers to get on the vehicle. At this time, the vehicle system will input the obtained parking out vehicle steering angle into the steering wheel of the vehicle, thereby realizing the control of the steering wheel of the vehicle by using the corresponding parking out vehicle steering angles at multiple automatic parking out times.

[0176] When the automatic parking out distance L Auto1 (t2) of the vehicle and the total parking out distance L Drv (T) of the vehicle are equal in value, the vehicle system will determine that the automatic vehicle parking out is completed, automatically shift the vehicle into the parking gear P. When the driver opens the door, the vehicle system will end the automatic parking out function.

[0177] In an embodiment of the present invention, when controlling the vehicle to automatically park from the stop position to the target position, the vehicle's steering wheel is controlled according to the corresponding target vehicle steering angles respectively corresponding to multiple parking times, and further includes:

[0178] If a parking instruction is received, the vehicle's parking operation is performed according to the parking instruction; or,

[0179] If a withdrawal instruction is received, the vehicle is controlled to return to the stop position according to the withdrawal instruction.

[0180] Specifically, in order to prevent dangers generated during the vehicle's automatic parking process, the driver can observe and use the buttons on the external hardware device to emergently stop the vehicle. After the danger is eliminated, the vehicle can continue the automatic parking action. For dangers or obstacles that cannot be eliminated, the driver can also use the buttons on the external hardware device to withdraw the automatic parking request, and the vehicle will return to the original stop position. Here, the buttons on the external hardware device are the same as the buttons on the external hardware device that trigger the vehicle's automatic parking function and automatic unparking function. At this time, the vehicle system will determine whether the current vehicle is in the working mode. If it is in the working mode, corresponding operations in the corresponding working mode are performed according to the instructions. In order to distinguish between the parking instruction and the withdrawal instruction, it is distinguished by the button operations on the external hardware device. For example, a short press of the button belongs to the parking instruction, and a long press of the button belongs to the withdrawal instruction. It should be noted that the button operations for distinguishing between the parking instruction and the withdrawal instruction can be changed according to actual needs, and the embodiments of the present invention do not limit this.

[0181] In practical applications, if the vehicle itself has an ultrasonic radar sensor, the vehicle system can, based on the ultrasonic radar sensor, monitor in real time whether there are some dangers or obstacles that the driver cannot observe during the process of automatic parking in and automatic unparking, so as to avoid the influence caused by the driver not observing the danger. The ultrasonic radar sensor here is not used during the vehicle unparking training process.

[0182] In an embodiment of the present invention, when controlling the vehicle to automatically unpark from the target position to the stop position, the vehicle's steering wheel is controlled according to the corresponding unparking vehicle steering angles respectively corresponding to the multiple automatic unparking times, and includes:

[0183] If the parking instruction is received, the vehicle's parking operation is performed according to the parking instruction.

[0184] Specifically, the operations during the vehicle's automatic unparking process are similar to those during the vehicle's automatic parking process, and both can perform corresponding vehicle operations through button operations on the external hardware device.

[0185] In an embodiment of the present invention, when controlling the vehicle to automatically park out from the target position to the stop position, after controlling the steering wheel of the vehicle according to the corresponding parking-out vehicle steering angles respectively based on the multiple automatic parking-out times, the method further includes:

[0186] When the memory parking function is triggered again, clear the memory; or,

[0187] If a clear instruction is received, clear the memory according to the clear instruction.

[0188] Specifically, considering that the NvM storage space of the vehicle is limited, it is necessary to clear the data in the NvM to ensure that the relevant data in the next vehicle parking-out training process can be effectively stored, and improve the efficiency of vehicle automatic parking-in and vehicle automatic parking-out. In the embodiment of the present invention, after the vehicle finishes automatic parking-out, the driver gets on the vehicle, and after confirming through the human-machine interaction interface or physical buttons in the vehicle, that is, when the vehicle receives the clear instruction, the data in the NvM can be cleared; or, after the memory parking function is triggered next time, the relevant data recorded in the NvM during the previous vehicle parking-out training process will be cleared.

[0189] Referring to Figure 5 , a structural schematic diagram of a parking position according to an embodiment of the present invention is shown, which relates to a vehicle and may include the following modules:

[0190] A memory parking function trigger module 501, configured to record the vehicle parking-out data when the memory parking function of the vehicle is triggered, where the vehicle parking-out data includes the vehicle steering angles corresponding to multiple parking-out times, the total vehicle parking-out time, and the vehicle parking-out speed;

[0191] A first mapping relationship module 502, configured to integrate the vehicle parking-out speed based on time to obtain a first mapping relationship between the vehicle parking-out distance and time of the vehicle;

[0192] A vehicle total parking-out distance module 503, configured to obtain the total vehicle parking-out distance according to the total vehicle parking-out time and the first mapping relationship, where the total vehicle parking-out distance includes the vehicle parking-out distance;

[0193] A second mapping relationship module 504, configured to obtain a second mapping relationship between the vehicle parking-out distance and the vehicle steering angle according to the first mapping relationship and the vehicle steering angles corresponding to multiple parking-out times;

[0194] The target vehicle steering angle determination module 505 is configured to determine the target vehicle steering angle of the vehicle according to the second mapping relationship when the automatic parking function of the vehicle is triggered;

[0195] The vehicle automatic parking control module 506 is configured to control the steering wheel of the vehicle by using the corresponding target vehicle steering angle according to multiple parking times when controlling the vehicle to automatically park from the stop position to the target position.

[0196] In an embodiment of the present invention, the vehicle steering angle is determined according to the steering wheel steering angle.

[0197] In an embodiment of the present invention, the target vehicle steering angle determination module 505 may include the following sub-modules:

[0198] The vehicle parking path determination sub-module is configured to determine the vehicle parking paths corresponding to multiple parking times of the vehicle;

[0199] The target vehicle steering angle determination sub-module is configured to determine the target vehicle steering angles corresponding to multiple parking times respectively according to the vehicle parking paths corresponding to the multiple parking times and the second mapping relationship.

[0200] In an embodiment of the present invention, the vehicle further includes multiple sensors and a memory, and the memory parking function trigger module 501 may include the following sub-modules:

[0201] The vehicle parking out data acquisition sub-module is configured to periodically acquire the vehicle parking out data of the vehicle from the target position to the stop position through the multiple sensors;

[0202] The vehicle parking out data recording sub-module is configured to record the vehicle parking out data in the memory.

[0203] In an embodiment of the present invention, the vehicle includes an accelerator pedal and a brake pedal, and the vehicle automatic parking control module 506 may include the following sub-modules:

[0204] The vehicle automatic parking control sub-module is configured to control the vehicle to travel at a preset vehicle parking speed when controlling the vehicle to automatically park from the stop position to the target position, and control the steering wheel of the vehicle by using the corresponding target vehicle steering angle according to multiple parking times;

[0205] Wherein, the vehicle parking speed corresponds to multiple parking times, and the change of the vehicle parking speed corresponding to the multiple parking times is divided into three stages, and the three stages include: an acceleration stage, a constant speed stage, and a deceleration stage;

[0206] The vehicle automatic parking control sub-module includes:

[0207] An acceleration unit, configured to accelerate the vehicle parking speed of the vehicle from zero to a set vehicle speed through the accelerator pedal during the acceleration stage for accelerating travel;

[0208] A constant-speed unit, configured to control the vehicle parking speed of the vehicle to remain at the set vehicle speed for constant-speed travel during the constant-speed stage;

[0209] A deceleration unit, configured to decelerate the vehicle parking speed of the vehicle from the set vehicle speed to zero to stop traveling through the brake pedal during the deceleration stage.

[0210] In an embodiment of the present invention, the vehicle parking distance determination sub-module may include the following units:

[0211] A vehicle parking speed acquisition sub-module, configured to periodically acquire the vehicle parking speed of the vehicle through the sensor;

[0212] A vehicle parking distance sub-module, configured to integrate the vehicle parking speed based on time to obtain the vehicle parking distance of the vehicle; wherein, the vehicle parking distance corresponds to the multiple parking times.

[0213] In an embodiment of the present invention, the target vehicle steering angle determination sub-module may include the following units:

[0214] A target vehicle parking-out distance unit, configured to subtract the vehicle parking distances corresponding to the multiple parking times from the total vehicle parking-out distance respectively to obtain the target vehicle parking-out distances of the vehicle corresponding to the multiple parking times respectively;

[0215] A target vehicle steering angle unit, configured to obtain the vehicle steering angles corresponding to the multiple parking times from the second mapping relationship as the target vehicle steering angles according to the target vehicle parking-out distances corresponding to the multiple parking times.

[0216] In an embodiment of the present invention, after the vehicle automatic parking control module 506, the device may further include the following modules:

[0217] An automatic parking-out speed control module, configured to control the automatic parking-out speed of the vehicle through the accelerator pedal and the brake pedal when triggering the automatic parking-out function of the vehicle;

[0218] An automatic parking-out speed acquisition module, configured to periodically acquire the automatic parking-out speed of the vehicle through the sensor; wherein, the automatic parking-out speed corresponds to multiple automatic parking-out times;

[0219] An automatic parking distance module, configured to integrate the automatic parking speed over time to obtain the automatic parking distances corresponding to the multiple automatic parking times;

[0220] A parked vehicle steering angle module, configured to obtain the parked vehicle steering angles corresponding to the multiple automatic parking times respectively from the second mapping relationship according to the automatic parking distances corresponding to the multiple automatic parking times;

[0221] A vehicle automatic parking control module, configured to control the steering wheel of the vehicle by using the corresponding parked vehicle steering angles respectively according to the multiple automatic parking times when controlling the vehicle to automatically park from the target position to the stop position.

[0222] In an embodiment of the present invention, the vehicle automatic parking control module 506 may further include the following sub-modules:

[0223] A vehicle automatic parking sub-module, configured to execute the parking operation of the vehicle according to the parking instruction if a parking instruction is received; or,

[0224] A vehicle automatic parking withdrawal sub-module, configured to control the vehicle to return to the stop position according to the withdrawal instruction if a withdrawal instruction is received.

[0225] In an embodiment of the present invention, the vehicle automatic parking control module may include the following sub-modules:

[0226] A vehicle automatic parking sub-module, configured to execute the parking operation of the vehicle according to the parking instruction if the parking instruction is received.

[0227] In an embodiment of the present invention, after the vehicle automatic parking control module, the device may further include the following module:

[0228] A memory clearing module, configured to clear the memory when the memory parking function is triggered again; or, clear the memory according to the clear instruction if a clear instruction is received.

[0229] In an embodiment of the present invention, the parking device provided in the embodiment of the present invention records vehicle parking-out data when the vehicle is parked out from the target position to the stop position by the driver triggering the action of the memory parking function of the vehicle. The vehicle parking-out data includes the vehicle steering angles corresponding to multiple parking-out times, the total vehicle parking-out time, and the vehicle parking-out speed. Integrating the vehicle parking-out speed based on time to obtain the first mapping relationship between the vehicle parking-out distance and time of the vehicle. Subsequently, according to the total vehicle parking-out time and the first mapping relationship, the total vehicle parking-out distance is obtained. The total vehicle parking-out distance includes the vehicle parking-out distance. According to the first mapping relationship and the vehicle steering angles corresponding to multiple parking-out times, the second mapping relationship between the vehicle parking-out distance and the vehicle steering angle is obtained, which is convenient for the driver to determine the target vehicle steering angle of the vehicle through the second mapping relationship when triggering the automatic parking-in function of the vehicle. When controlling the vehicle to automatically park in from the stop position to the target position, the steering wheel of the vehicle is controlled according to the corresponding target vehicle steering angles at multiple parking-in times respectively, so that the vehicle can reverse and park into the target position according to the previously recorded vehicle parking-out data without manual control. This parking method solves the problem that it is difficult for all passengers in the vehicle to get off when in a narrow parking space, and not only realizes that all passengers in the vehicle can get on and off at an appropriate position, that is, the stop position, but also can reduce the relevant hardware for parking training and simplify the algorithm in the training process, thereby avoiding the high cost and the situation of algorithm mis-triggering in parking training, making this parking method easier to be widely applied.

[0230] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment.

[0231] The embodiment of the present invention also provides a vehicle, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, the above parking method is implemented.

[0232] The embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by the processor, the above parking method is implemented.

[0233] Each embodiment in this specification is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other.

[0234] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, an apparatus, a vehicle, or a computer program product. Therefore, the embodiments of the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0235] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing terminal devices generate a device for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or a plurality of flows and / or blocks

[0236] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions specified in Figure 1 one or more of the flows Figure 1 or a plurality of flows and / or blocks

[0237] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, such that a series of operation steps are executed on the computer or other programmable terminal device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable terminal device provide steps for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or a plurality of flows and / or blocks

[0238] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the embodiments of the present invention.

[0239] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising said element.

[0240] The above has introduced in detail a parking method, a parking device, a corresponding vehicle and a corresponding computer-readable storage medium. In this text, specific examples are used to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A parking method, characterized in that, Relating to a vehicle, the method includes: When triggering the memory parking function of the vehicle, recording the vehicle parking-out data when the vehicle parks out from the target position to the stop position; wherein, the vehicle parking-out data includes the vehicle steering angles corresponding to multiple parking-out times, the total vehicle parking-out time, and the vehicle parking-out speed; Integrating the vehicle parking-out speed based on time to obtain a first mapping relationship between the vehicle parking-out distance and time of the vehicle; Obtaining the total vehicle parking-out distance according to the total vehicle parking-out time and the first mapping relationship, and the total vehicle parking-out distance includes the vehicle parking-out distance; According to the first mapping relationship and the vehicle steering angles corresponding to multiple parking-out times, obtaining a second mapping relationship between the vehicle parking-out distance and the vehicle steering angle; When triggering the automatic parking-in function of the vehicle, determining the target vehicle steering angle of the vehicle according to the second mapping relationship; When controlling the vehicle to automatically park in from the stop position to the target position, controlling the vehicle steering wheel according to the corresponding target vehicle steering angles at multiple parking-in times.

2. The method according to claim 1, wherein The vehicle steering angle is determined according to the steering wheel steering angle.

3. The method according to claim 1 or 2, characterized in that, The step of when triggering the automatic parking-in function of the vehicle and determining the target vehicle steering angle of the vehicle according to the second mapping relationship includes: Determining the vehicle parking-in distances corresponding to multiple parking-in times of the vehicle; According to the vehicle parking-in distances corresponding to multiple parking-in times and the second mapping relationship, determining the target vehicle steering angles corresponding to multiple parking-in times respectively.

4. The method according to claim 3, characterized in that, The vehicle further includes multiple sensors and a memory, and the step of recording the vehicle parking-out data when the vehicle parks out from the target position to the stop position includes: Periodically collecting the vehicle parking-out data when the vehicle parks out from the target position to the stop position through the multiple sensors; Recording the vehicle parking-out data in the memory.

5. The method according to claim 4, characterized in that The vehicle includes an accelerator pedal and a brake pedal, and the step of when controlling the vehicle to automatically park in from the stop position to the target position and controlling the vehicle steering wheel according to the corresponding target vehicle steering angles at multiple parking-in times includes: When controlling the vehicle to automatically park in from the stop position to the target position, controlling the vehicle to travel at a preset vehicle parking-in speed, and controlling the vehicle steering wheel according to the corresponding target vehicle steering angles at multiple parking-in times; Wherein, the vehicle parking-in speed corresponds to multiple parking-in times, and the change of the vehicle parking-in speed corresponding to multiple parking-in times is divided into three stages, and the three stages include: an acceleration stage, a constant speed stage, and a deceleration stage; The step of controlling the vehicle to travel at a preset vehicle parking-in speed includes: In the acceleration stage, accelerating the vehicle parking-in speed of the vehicle from zero to the set vehicle speed through the accelerator pedal for accelerating travel; In the constant speed stage, controlling the vehicle parking-in speed of the vehicle to remain at the set vehicle speed for constant speed travel; In the deceleration stage, the vehicle parking speed of the vehicle is decelerated from the set vehicle speed to zero by the brake pedal to stop driving.

6. The method according to claim 5, wherein The determining the vehicle parking distances corresponding to multiple parking times of the vehicle includes: Periodically collecting the vehicle parking speed of the vehicle by the sensor; Integrating the vehicle parking speed with respect to time to obtain the vehicle parking distance of the vehicle; wherein, the vehicle parking distance corresponds to the multiple parking times.

7. The method according to claim 3, characterized in that, The determining the target vehicle steering angles corresponding to the multiple parking times according to the vehicle parking distances corresponding to the multiple parking times and the second mapping relationship includes: Subtracting the vehicle parking distances corresponding to the multiple parking times from the total vehicle parking-out distance respectively to obtain the target vehicle parking-out distances corresponding to the multiple parking times; According to the target vehicle parking-out distances corresponding to the multiple parking times, obtaining the vehicle steering angles corresponding to the multiple parking times from the second mapping relationship as the target vehicle steering angles.

8. The method according to claim 5, wherein After controlling the steering wheel of the vehicle according to the corresponding target vehicle steering angles respectively according to multiple parking times when controlling the vehicle to automatically park from the stop position to the target position, the method further includes: When the automatic parking-out function of the vehicle is triggered, controlling the automatic parking-out speed of the vehicle by the accelerator pedal and the brake pedal; Periodically collecting the automatic parking-out speed of the vehicle by the sensor; wherein, the automatic parking-out speed corresponds to multiple automatic parking-out times; Integrating the automatic parking-out speed with respect to time to obtain the automatic parking-out distances corresponding to the multiple automatic parking-out times; According to the automatic parking-out distances corresponding to the multiple automatic parking-out times, obtaining the parking-out vehicle steering angles corresponding to the multiple automatic parking-out times from the second mapping relationship; When controlling the vehicle to automatically park out from the target position to the stop position, controlling the steering wheel of the vehicle according to the corresponding parking-out vehicle steering angles respectively according to the multiple automatic parking-out times.

9. The method according to claim 5, wherein The controlling the steering wheel of the vehicle according to the corresponding target vehicle steering angles respectively according to multiple parking times when controlling the vehicle to automatically park from the stop position to the target position further includes: If a parking instruction is received, performing the parking operation of the vehicle according to the parking instruction; or, If a withdrawal instruction is received, controlling the vehicle to return to the stop position according to the withdrawal instruction.

10. The method according to claim 9, characterized in that, The controlling the steering wheel of the vehicle according to the corresponding parking-out vehicle steering angles respectively according to the multiple automatic parking-out times when controlling the vehicle to automatically park out from the target position to the stop position includes: If the parking instruction is received, performing the parking operation of the vehicle according to the parking instruction.

11. The method according to claim 10, wherein After controlling the steering wheel of the vehicle according to the corresponding parking-out vehicle steering angles respectively according to the multiple automatic parking-out times when controlling the vehicle to automatically park out from the target position to the stop position, the method further includes: When the memory parking function is triggered again, clear the memory; or, If a clear instruction is received, clear the memory according to the clear instruction.

12. A parking device, characterized in that, Relates to a vehicle, the device includes: A memory parking function trigger module, configured to record vehicle parking-out data when the memory parking function of the vehicle is triggered, where the vehicle parking-out data includes vehicle steering angles corresponding to multiple parking-out times, the total vehicle parking-out time, and the vehicle parking-out speed; A first mapping relationship module, configured to integrate the vehicle parking-out speed based on time to obtain a first mapping relationship between the vehicle parking-out distance and time of the vehicle; A total vehicle parking-out distance module, configured to obtain the total vehicle parking-out distance according to the total vehicle parking-out time and the first mapping relationship, where the total vehicle parking-out distance includes the vehicle parking-out distance; A second mapping relationship module, configured to obtain a second mapping relationship between the vehicle parking-out distance and the vehicle steering angle according to the first mapping relationship and the vehicle steering angles corresponding to multiple parking-out times; A target vehicle steering angle determination module, configured to determine the target vehicle steering angle of the vehicle according to the second mapping relationship when the automatic parking-in function of the vehicle is triggered; A vehicle automatic parking-in control module, configured to control the steering wheel of the vehicle according to the corresponding target vehicle steering angle at multiple parking-in times when controlling the vehicle to automatically park in from the stop position to the target position.

13. A vehicle, characterized in that, Includes a processor, a memory, and a computer program stored on the memory and capable of running on the processor, where when the computer program is executed by the processor, it implements the parking method according to any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by the processor, it implements the parking method according to any one of claims 1 to 11.

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