Vehicle parking control method and device, vehicle and storage medium

Abstract

The invention discloses a vehicle parking control method and device, a vehicle and a storage medium, and relates to the technical field of vehicle control. The method comprises the steps that in the parking process of a vehicle, the vertical distance between the target position of the bottom of a vehicle body of the vehicle and the current driving road surface and gear information of the vehicle are obtained; the target position comprises at least one of a vehicle body bottom position in front of at least one front wheel of the vehicle and a vehicle body bottom position behind at least one rear wheel of the vehicle; based on the vertical distance and the gear information, whether the vehicle is about to drive into an uneven road surface is judged; and controlling the vehicle to stop parking under the condition of determining that the vehicle is about to drive into the uneven road surface. According to the method and the device, the vehicle can be controlled to stop parking in time when the vehicle is accurately identified to be about to drive on the uneven road surface, so that collision or scraping between the vehicle chassis and the road surface is avoided, potential safety hazards caused by damage of the battery pack mounted on the vehicle chassis are avoided, and the safety in the vehicle parking process is improved.

Description

Technical Field

[0001] This application relates to the technical field of vehicle control, and particularly to a vehicle parking control method, device, vehicle, and storage medium. Background Art

[0002] In the trend of automotive intelligence, many new energy vehicles are already equipped with an automatic parking function. However, during the automatic parking process, related technologies detect the road surface in the front and rear positions of the vehicle through radars installed in the front and rear positions of the vehicle, and they have the defect of insufficient recognition ability for non-flat road surfaces (such as steps with large height differences, hollow road surfaces, etc.), resulting in the system may misjudge such road surfaces as passable normal road surfaces. Such misjudgment may cause the vehicle chassis to collide or scrape with the road surface during the parking process, thereby causing deformation of the vehicle chassis structure and even serious consequences such as damage to the battery pack installed on the vehicle chassis. Summary of the Invention

[0003] In view of the above technical problems, embodiments of this application provide a vehicle parking control method, device, vehicle, and storage medium, which can, when accurately identifying that the vehicle is about to drive into a non-flat road surface, timely control the vehicle to stop parking, thereby avoiding the collision or scrape between the vehicle chassis and the road surface, and avoiding potential safety hazards caused by damage to the battery pack installed on the vehicle chassis, and improving the safety during the vehicle parking process.

[0004] The technical solution of this application is implemented as follows:

[0005] In a first aspect, embodiments of this application provide a vehicle parking control method, including:

[0006] During the vehicle parking process, obtain the vertical distance between a target position at the bottom of the vehicle body and the current driving road surface, and the gear information of the vehicle; the target position includes at least one of the following: the position at the bottom of the vehicle body in front of at least one front wheel of the vehicle, the position at the bottom of the vehicle body behind at least one rear wheel of the vehicle;

[0007] Based on the vertical distance and the gear information, determine whether the vehicle is about to drive into a non-flat road surface;

[0008] In the case of determining that the vehicle is about to drive into the non-flat road surface, control the vehicle to stop parking.

[0009] In some embodiments, the determining whether the vehicle is about to drive into a non-flat road surface based on the vertical distance and the gear information includes one of the following:

[0010] When it is determined that the vehicle is in the forward state based on the gear information, it is determined whether the vehicle is about to enter an uneven road surface based on the vertical distance between the bottom position of the vehicle body in front of at least one front wheel of the vehicle and the current driving road surface;

[0011] When it is determined that the vehicle is in the reverse state based on the gear information, it is determined whether the vehicle is about to enter an uneven road surface based on the vertical distance between the bottom position of the vehicle body behind at least one rear wheel of the vehicle and the current driving road surface.

[0012] In some embodiments, the determining whether the vehicle is about to enter an uneven road surface based on the vertical distance between the bottom position of the vehicle body in front of at least one front wheel of the vehicle and the current driving road surface includes:

[0013] Determining the vertical distance between the bottom position of the vehicle body in front of the target front wheel among at least one front wheel of the vehicle and the current driving road surface as the first distance;

[0014] When it is determined that the first distance is greater than the tire radius of the target front wheel, it is determined that the vehicle is about to enter the uneven road surface.

[0015] In some embodiments, the determining that the vehicle is about to enter the uneven road surface when it is determined that the first distance is greater than the tire radius of the target front wheel includes:

[0016] When it is determined that the first distance is greater than the tire radius of the target front wheel and the duration for which the first distance is greater than the tire radius of the target front wheel is greater than the set duration, it is determined that the vehicle is about to enter the uneven road surface.

[0017] In some embodiments, the determining whether the vehicle is about to enter an uneven road surface based on the vertical distance between the bottom position of the vehicle body behind at least one rear wheel of the vehicle and the current driving road surface includes:

[0018] Determining the vertical distance between the bottom position of the vehicle body behind the target rear wheel among at least one rear wheel of the vehicle and the current driving road surface as the second distance;

[0019] When it is determined that the second distance is greater than the tire radius of the target rear wheel, it is determined that the vehicle is about to enter the uneven road surface.

[0020] In some embodiments, the determining that the vehicle is about to enter the uneven road surface when it is determined that the second distance is greater than the tire radius of the target rear wheel includes:

[0021] When it is determined that the second distance is greater than the tire radius of the target rear wheel and the duration for which the second distance is greater than the tire radius of the target rear wheel is greater than a set duration, it is determined that the vehicle is about to enter the uneven road surface.

[0022] In some embodiments, the vertical distance between the target position at the bottom of the vehicle body and the current driving road surface is detected by a distance detection device installed at the target position; a protective component is provided around the distance detection device, and a switchable cover plate is provided at the opening of the protective component.

[0023] The vehicle parking control method further includes:

[0024] When it is determined that the vehicle starts parking, control the cover plate to open and control the distance detection device to switch from the non - working state to the working state.

[0025] When it is determined that the vehicle stops parking, control the cover plate to close and control the distance detection device to switch from the working state to the non - working state.

[0026] In a second aspect, an embodiment of the present application provides a vehicle parking control device, including:

[0027] An acquisition module, configured to acquire the vertical distance between the target position at the bottom of the vehicle body and the current driving road surface, and the gear information of the vehicle during the parking process of the vehicle; the target position includes at least one of the following: the position at the bottom of the vehicle body in front of at least one front wheel of the vehicle, the position at the bottom of the vehicle body behind at least one rear wheel of the vehicle.

[0028] A judgment module, configured to judge whether the vehicle is about to enter an uneven road surface based on the vertical distance and the gear information.

[0029] A control module, configured to control the vehicle to stop parking when it is determined that the vehicle is about to enter the uneven road surface.

[0030] In a third aspect, an embodiment of the present application provides a vehicle, including: a vehicle body and a controller provided on the vehicle body; the vehicle body includes a body and wheels provided at the bottom of the body, and the wheels include at least one front wheel and at least one rear wheel; the controller is configured to implement the steps in the vehicle parking control method as described in the first aspect.

[0031] In a fourth aspect, an embodiment of the present application provides a computer - readable storage medium, in which a computer program is stored, and when the computer program is run by a processor, it implements the steps in the vehicle parking control method as described in the first aspect.

[0032] The vehicle parking control method, device, vehicle, and storage medium provided by the embodiments of the present application, during the vehicle parking process, obtain in real time the vertical distance between the bottom position of the vehicle body in front of at least one front wheel and the current driving road surface, and / or the vertical distance between the bottom position of the vehicle body behind at least one rear wheel and the current driving road surface, and obtain the gear information of the vehicle. Then, based on the obtained vertical distance and gear information, it is determined whether the vehicle is about to drive into an uneven road surface. In this way, by identifying the uneven road surface based on the actual distance between the specific positions of the bottom of the vehicle body (such as in front of the front wheel and behind the rear wheel) and the road surface and the gear information of the vehicle, it is possible to improve the defect that the related technology mainly focuses on detecting the road surface in the front and rear directions of the vehicle and has insufficient ability to identify uneven road surfaces, improve the accuracy of identifying uneven road surfaces, and then when it is determined that the vehicle is about to drive into an uneven road surface, timely control the vehicle to stop parking, thereby avoiding the collision or scratching of the vehicle chassis with the road surface, and avoiding the safety hazards caused by the damage of the battery pack installed on the vehicle chassis, and improving the safety during the vehicle parking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0034] Figure 1 It is a schematic flowchart of a vehicle parking control method provided by an embodiment of the present application;

[0035] Figure 2 It is a schematic diagram of the vertical distance between the target position of the bottom of the vehicle body and the current driving road surface provided by an embodiment of the present application;

[0036] Figure 3 It is a schematic flowchart of a vehicle parking control method provided by an embodiment of the present application;

[0037] Figure 4 It is a schematic flowchart of a vehicle parking control method provided by an embodiment of the present application;

[0038] Figure 5 It is a schematic diagram of the principle of vehicle parking control provided by an embodiment of the present application;

[0039] Figure 6 It is a schematic structural diagram of a vehicle parking control device provided by an embodiment of the present application;

[0040] Figure 7A schematic plan view of a vehicle provided by an embodiment of the present application. Detailed implementation manners

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0042] The vehicle parking control method, device, vehicle, and storage medium provided by the embodiments of the present application will be introduced exemplarily below with reference to the accompanying drawings in the embodiments of the present application.

[0043] Figure 1 One of the flow schematic diagrams of a vehicle parking control method provided by an embodiment of the present application, as Figure 1 shown, the method includes:

[0044] S101. During the vehicle parking process, obtain the vertical distance between the target position at the bottom of the vehicle body and the current driving road surface, and the gear information of the vehicle; the target position includes at least one of the following: the position at the bottom of the vehicle body in front of at least one front wheel of the vehicle, the position at the bottom of the vehicle body behind at least one rear wheel of the vehicle.

[0045] It should be noted that the vehicle parking refers to the operation of the vehicle to park or drive out of the parking space without human intervention through the Automated Parking Assist (APA) or Automated Valet Parking (AVP) system.

[0046] It should be noted that the target position at the bottom of the vehicle body may include the position at the bottom of the vehicle body in front of at least one front wheel of the vehicle and the position at the bottom of the vehicle body behind at least one rear wheel of the vehicle. For example, if the vehicle includes four wheels, namely the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, the target position may include the position at the bottom of the vehicle body in front of the left front wheel, the position at the bottom of the vehicle body in front of the right front wheel, the position at the bottom of the vehicle body behind the left rear wheel, and the position at the bottom of the vehicle body behind the right rear wheel.

[0047] In some embodiments, a millimeter-wave radar or an ultrasonic sensor may be installed at the target position at the bottom of the vehicle body to detect the vertical distance between the target position at the bottom of the vehicle body and the current driving road surface through the millimeter-wave radar or the ultrasonic sensor.

[0048] In some embodiments, a wide-angle camera may be installed at the bottom of the vehicle body in front of the front wheels and behind the rear wheels to capture road surface images, and then the vertical distance from the camera to the road surface may be calculated through vision algorithms (such as edge detection). For example, the height may be estimated using the perspective distortion of the road surface texture in the image.

[0049] It should be noted that the vertical distance between the target position and the current driving road surface refers to the vertical height difference between the target position and the current driving road surface.

[0050] Exemplarily, Figure 2 FIG. is a schematic diagram of the vertical distance between the target position at the bottom of the vehicle body of a vehicle provided by an embodiment of the present application and the current driving road surface, as Figure 2 shown, where d1 represents the vertical distance between the position at the bottom of the vehicle body behind the right rear wheel of the vehicle and the current driving road surface, and d2 represents the vertical distance between the position at the bottom of the vehicle body in front of the right front wheel of the vehicle and the current driving road surface.

[0051] It should be noted that the gear information of the vehicle can reflect the gear state of the vehicle. For example, the vehicle is in the forward gear (D gear) state or the vehicle is in the reverse gear (R gear) state.

[0052] It can be understood that the gear information of the vehicle can be used to judge the movement direction of the vehicle (such as the vehicle moving forward or the vehicle moving backward).

[0053] In some embodiments, the gear state of the vehicle published by the instrument panel control module of the vehicle may be monitored through a Controller Area Network (CAN) bus, or the gear signal output by the gear sensor of the vehicle may be directly read to obtain the gear information of the vehicle.

[0054] S102. Based on the vertical distance and the gear information, determine whether the vehicle is about to drive into an uneven road surface.

[0055] It should be noted that an uneven road surface refers to a road surface with significant height changes (such as hollowing, depression, steps, etc.).

[0056] In some embodiments, the movement direction of the vehicle may be first determined based on the gear information, and then based on the movement direction of the vehicle, it is determined whether the vehicle is about to drive into an uneven road surface based on the vertical distance between the position at the bottom of the vehicle body in front of the front wheels of the vehicle and the current driving road surface or based on the vertical distance between the position at the bottom of the vehicle body behind the rear wheels of the vehicle and the current driving road surface.

[0057] In some embodiments, it is possible to determine whether the vehicle is about to enter an uneven road surface based on the magnitude relationship between the vertical distance between the target position at the bottom of the vehicle body and the current driving road surface and a set distance threshold. The set distance threshold can be adaptively set based on actual applications. For example, the set distance threshold is the tire radius, and the embodiments of the present application do not make specific limitations on this.

[0058] S103. In the case of determining that the vehicle is about to enter the uneven road surface, control the vehicle to stop parking.

[0059] In some embodiments, if it is determined that the vehicle is about to enter an uneven road surface, a brake signal can be generated and sent to the brake actuator of the vehicle to instruct the brake actuator to perform a braking operation. Moreover, while sending the brake signal, a parking exit instruction can also be sent to the Automated Parking Controller (APC) to instruct the APC to perform an automatic parking exit operation.

[0060] In some embodiments, after controlling the vehicle to stop parking, it is also possible to display "Parking has been terminated, please take over manually" on the vehicle dashboard or give a voice prompt "The current road surface is uneven, and automatic parking has stopped".

[0061] It can be understood that the vehicle parking control method provided by the embodiments of the present application, during the vehicle parking process, real-time obtains the vertical distance between the position at the bottom of the vehicle body in front of at least one front wheel of the vehicle and the current driving road surface, and / or the vertical distance between the position at the bottom of the vehicle body behind at least one rear wheel of the vehicle and the current driving road surface, and obtains the gear information of the vehicle. Then, based on the obtained vertical distance and gear information, it is determined whether the vehicle is about to enter an uneven road surface. In this way, by identifying the uneven road surface based on the actual distance between a specific position at the bottom of the vehicle body (such as in front of the front wheel and behind the rear wheel) and the road surface and the gear information of the vehicle, it is possible to improve the defect that the related technology mainly focuses on detecting the road surface in the front and rear directions of the vehicle and has insufficient ability to identify uneven road surfaces, improve the accuracy of identifying uneven road surfaces, and then, when it is determined that the vehicle is about to enter an uneven road surface, timely control the vehicle to stop parking, thereby avoiding collisions or scratches between the vehicle chassis and the road surface, and avoiding potential safety hazards caused by damage to the battery pack installed on the vehicle chassis, and improving the safety during the vehicle parking process.

[0062] In some embodiments, the determining whether the vehicle is about to enter an uneven road surface based on the vertical distance and the gear information includes one of the following:

[0063] When it is determined that the vehicle is in the forward state based on the gear information, it is determined whether the vehicle is about to drive into an uneven road surface based on the vertical distance between the bottom position of the vehicle body in front of at least one front wheel of the vehicle and the current driving road surface;

[0064] When it is determined that the vehicle is in the reverse state based on the gear information, it is determined whether the vehicle is about to drive into an uneven road surface based on the vertical distance between the bottom position of the vehicle body behind at least one rear wheel of the vehicle and the current driving road surface.

[0065] It should be noted that the gear information can be used to judge the moving direction of the vehicle. If the gear information indicates that the vehicle is currently in the forward gear state, it is determined that the moving direction of the vehicle is forward, that is, the vehicle is in the forward state; if the gear information indicates that the vehicle is currently in the reverse gear state, it is determined that the moving direction of the vehicle is backward, that is, the vehicle is in the reverse state.

[0066] It should be noted that when the vehicle is in the forward state, the road surface features in front of the vehicle (such as steps, depressions) will first affect the vertical distance between the bottom of the vehicle body in front of the vehicle's front wheels and the road surface. Therefore, when the vehicle is in the forward state, it can be determined whether the vehicle is about to drive into an uneven road surface based on the vertical distance between the bottom position of the vehicle body in front of at least one front wheel of the vehicle and the current driving road surface. When the vehicle is in the reverse state, the road surface features behind the vehicle (such as steps, depressions) will first affect the vertical distance between the bottom of the vehicle body behind the vehicle's rear wheels and the road surface. Therefore, when the vehicle is in the reverse state, it can be determined whether the vehicle is about to drive into an uneven road surface based on the vertical distance between the bottom position of the vehicle body behind at least one rear wheel of the vehicle and the current driving road surface.

[0067] In some embodiments, when the vehicle is in the forward state, it can be determined whether the vehicle is about to drive into an uneven road surface based on the magnitude relationship between the vertical distance between the bottom position of the vehicle body in front of at least one front wheel of the vehicle and the current driving road surface and a set distance threshold. Similarly, when the vehicle is in the reverse state, it can be determined whether the vehicle is about to drive into an uneven road surface based on the magnitude relationship between the vertical distance between the bottom position of the vehicle body behind at least one rear wheel of the vehicle and the current driving road surface and the set distance threshold.

[0068] Exemplarily, Figure 3 is the second flowchart of a vehicle parking control method provided by an embodiment of the present application. As Figure 3 shown, the method includes:

[0069] S301. During the vehicle parking process, obtain the vertical distance between the target position at the bottom of the vehicle body and the current driving road surface, as well as the gear information of the vehicle; the target position includes at least one of the following: the position at the bottom of the vehicle body in front of at least one front wheel of the vehicle, the position at the bottom of the vehicle body behind at least one rear wheel of the vehicle.

[0070] S302. When it is determined based on the gear information that the vehicle is in the forward state, based on the vertical distance between the position at the bottom of the vehicle body in front of at least one front wheel of the vehicle and the current driving road surface, determine whether the vehicle is about to drive into an uneven road surface.

[0071] S303. When it is determined based on the gear information that the vehicle is in the reverse state, based on the vertical distance between the position at the bottom of the vehicle body behind at least one rear wheel of the vehicle and the current driving road surface, determine whether the vehicle is about to drive into an uneven road surface.

[0072] S304. When it is determined that the vehicle is about to drive into the uneven road surface, control the vehicle to stop parking.

[0073] It should be noted that for the description of the same steps and the same content in this embodiment and other embodiments, reference can be made to the description in other embodiments, and details will not be repeated here.

[0074] It can be understood that in the embodiment of the present application, by dynamically adjusting the monitoring area at the bottom of the vehicle body based on the gear information of the vehicle (monitoring in front of the front wheels in the forward gear and monitoring behind the rear wheels in the reverse gear), and combining the vertical distance between the monitoring area at the bottom of the vehicle body and the current driving road surface, an accurate judgment or identification of the uneven road surface can be made.

[0075] In some embodiments, the determining whether the vehicle is about to drive into an uneven road surface based on the vertical distance between the position at the bottom of the vehicle body in front of at least one front wheel of the vehicle and the current driving road surface includes:

[0076] Determine the vertical distance between the position at the bottom of the vehicle body in front of the target front wheel among at least one front wheel of the vehicle and the current driving road surface as the first distance;

[0077] When it is determined that the first distance is greater than the tire radius of the target front wheel, determine that the vehicle is about to drive into the uneven road surface.

[0078] It should be noted that the target front wheel is any one of all the front wheels included in the vehicle. The tire radius of the target front wheel refers to the length of the tire radius of the target front wheel.

[0079] For example, if the vehicle is in a forward state and the vehicle includes a left front wheel and a right front wheel. If the vertical distance between the bottom position of the vehicle body of the left front wheel and the current driving road surface is greater than the tire radius of the left front wheel, and / or, the vertical distance between the bottom position of the vehicle body of the right front wheel and the current driving road surface is greater than the tire radius of the right front wheel, it means that there may be a depression or hollow in the road surface in front of the vehicle. If the vehicle continues to move forward, it may cause the vehicle chassis to collide or scrape with the road surface. Therefore, it is determined at this time that the vehicle is about to drive into an uneven road surface, and the vehicle is immediately controlled to stop parking.

[0080] It can be understood that when the vehicle is in a forward state, in the embodiment of the present application, the tire radius of the vehicle front wheel is used as a threshold for judging whether the vertical distance (i.e., the first distance) is abnormal. If the vertical distance is greater than the tire radius of the vehicle front wheel, it means that there may be a depression or hollow in the road surface in front of the vehicle, and thus it can be accurately determined that the vehicle is about to drive into an uneven road surface, realizing accurate identification of the uneven road surface.

[0081] In some embodiments, determining that the vehicle is about to drive into the uneven road surface when it is determined that the first distance is greater than the tire radius of the target front wheel includes:

[0082] When it is determined that the first distance is greater than the tire radius of the target front wheel and the duration for which the first distance is greater than the tire radius of the target front wheel is greater than a set duration, it is determined that the vehicle is about to drive into the uneven road surface.

[0083] It should be noted that in the embodiment of the present application, the duration refers to the continuous time length during which the first distance is greater than the tire radius of the target front wheel. The set duration is a preset duration threshold. The set duration can be adaptively set based on actual applications, and the embodiment of the present application does not make specific limitations thereto. For example, the set duration is 0.5 seconds, 0.75 seconds, 1 second, etc.

[0084] It should be noted that if the road surface in front of the vehicle is an uneven road surface with a very short distance, such as a hollow road surface with a small spacing, specifically such as bridge joints and drainage ditch covers, etc., since the vehicle will not have a chassis collision or scrape when driving normally on such an uneven road surface, it can be considered that such an uneven road surface is not a real uneven road surface. And the embodiment of the present application takes this situation into account. When the vehicle is in a forward state, not only is the vertical distance (i.e., the first distance) greater than the tire radius of the target front wheel used as a judgment basis for the uneven road surface, but also the duration for which the vertical distance is greater than the tire radius of the target front wheel is greater than the set duration is used as a judgment basis for the uneven road surface, so as to improve the accuracy of the judgment of the uneven road surface.

[0085] It can be understood that by double-checking the first distance and the duration for which the first distance is greater than the tire radius of the target front wheel, the embodiments of the present application can effectively eliminate misjudgments caused by very short uneven road surfaces on the normal forward parking of the vehicle, and improve the accuracy of uneven road surface judgment.

[0086] In some embodiments, determining whether the vehicle is about to drive into an uneven road surface based on the vertical distance between the bottom position of the vehicle body behind at least one rear wheel of the vehicle and the current driving road surface includes:

[0087] Determine the vertical distance between the bottom position of the vehicle body behind the target rear wheel among at least one rear wheel of the vehicle and the current driving road surface as the second distance;

[0088] When it is determined that the second distance is greater than the tire radius of the target rear wheel, it is determined that the vehicle is about to drive into the uneven road surface.

[0089] It should be noted that the target rear wheel is any one of all the rear wheels included in the vehicle. The tire radius of the target rear wheel refers to the length of the tire radius of the target rear wheel.

[0090] For example, if the vehicle is in a reverse state and the vehicle includes a left rear wheel and a right rear wheel. If it is detected that the vertical distance between the bottom position of the vehicle body of the left rear wheel and the current driving road surface is greater than the tire radius of the left rear wheel, and / or the vertical distance between the bottom position of the vehicle body of the right rear wheel and the current driving road surface is greater than the tire radius of the right rear wheel, it means that there may be a depression or hollow in the road surface behind the vehicle. If the vehicle continues to reverse, it may cause the vehicle chassis to collide or scrape against the road surface. Therefore, at this time, it is determined that the vehicle is about to drive into an uneven road surface, and the vehicle is immediately controlled to stop parking.

[0091] It can be understood that when the vehicle is in a reverse state, the embodiments of the present application use the tire radius of the vehicle's rear wheel as the threshold for judging whether the vertical distance (i.e., the second distance) is abnormal. If the vertical distance is greater than the tire radius of the vehicle's rear wheel, it means that there may be a depression or hollow in the road surface behind the vehicle, and thus it can be accurately determined that the vehicle is about to drive into an uneven road surface, realizing the accurate identification of uneven road surfaces.

[0092] In some embodiments, the determining that the vehicle is about to drive into the uneven road surface when it is determined that the second distance is greater than the tire radius of the target rear wheel includes:

[0093] When it is determined that the second distance is greater than the tire radius of the target rear wheel and the duration for which the second distance is greater than the tire radius of the target rear wheel is greater than the set duration, it is determined that the vehicle is about to drive into the uneven road surface.

[0094] It should be noted that in the embodiments of the present application, the continuous duration refers to the continuous time length during which the second distance is greater than the tire radius of the target rear wheel. The set duration is a preset duration threshold. The set duration can be adaptively set based on actual applications, and the embodiments of the present application do not make specific limitations thereto. For example, the set duration is 0.5 seconds, 0.75 seconds, 1 second, etc.

[0095] It should be noted that if the road surface behind the vehicle during driving is an uneven road surface with a very short distance, such as a hollow road surface with a small spacing, specifically such as bridge joints and drain covers, etc., since the vehicle will not have chassis collision or scratching when driving normally on such uneven road surfaces, it can be considered that such uneven road surfaces are not truly uneven road surfaces. In the embodiments of the present application, considering this situation, when the vehicle is in a reverse state, not only is the vertical distance (i.e., the second distance) greater than the tire radius of the target rear wheel used as the judgment basis for the uneven road surface, but also the continuous duration during which the vertical distance is greater than the tire radius of the target rear wheel is greater than the set duration is used as the judgment basis for the uneven road surface, thereby improving the accuracy of the judgment of the uneven road surface.

[0096] It can be understood that through the dual judgment of the second distance and the continuous duration during which the second distance is greater than the tire radius of the target rear wheel in the embodiments of the present application, the influence and misjudgment of the uneven road surface with a very short distance on the normal reverse parking of the vehicle can be effectively excluded, and the accuracy of the judgment of the uneven road surface can be improved.

[0097] Exemplarily, Figure 4 FIG. 3 is a schematic flowchart of a vehicle parking control method provided by an embodiment of the present application. As Figure 4 shown, the method includes:

[0098] S401. During the parking process of the vehicle, obtain the vertical distance between the target position at the bottom of the vehicle body and the current driving road surface, and the gear information of the vehicle; the target position includes at least one of the following: the position at the bottom of the vehicle body in front of at least one front wheel of the vehicle, the position at the bottom of the vehicle body behind at least one rear wheel of the vehicle.

[0099] S402. When it is determined based on the gear information that the vehicle is in the forward state, determine the vertical distance between the position at the bottom of the vehicle body in front of the target front wheel among at least one front wheel of the vehicle and the current driving road surface as the first distance, and determine whether the first distance is greater than the tire radius of the target front wheel.

[0100] S403. When it is determined that the first distance is greater than the tire radius of the target front wheel, determine whether the continuous duration during which the first distance is greater than the tire radius of the target front wheel is greater than the set duration.

[0101] S404. When it is determined that the duration for which the first distance is greater than the tire radius of the target front wheel is greater than the set duration, it is determined that the vehicle is about to drive into an uneven road surface, and then the vehicle is controlled to stop parking.

[0102] S405. When it is determined based on the gear information that the vehicle is in the reverse state, the vertical distance between the bottom position of the vehicle body behind the target rear wheel among at least one rear wheel of the vehicle and the current driving road surface is determined as the second distance, and it is judged whether the second distance is greater than the tire radius of the target rear wheel.

[0103] S406. When it is determined that the second distance is greater than the tire radius of the target rear wheel, it is judged whether the duration for which the second distance is greater than the tire radius of the target rear wheel is greater than the set duration.

[0104] S407. When it is determined that the duration for which the second distance is greater than the tire radius of the target rear wheel is greater than the set duration, it is determined that the vehicle is about to drive into an uneven road surface, and then the vehicle is controlled to stop parking.

[0105] It should be noted that for the description of the same steps and the same content in this embodiment and other embodiments, reference can be made to the description in other embodiments, and details are not repeated here.

[0106] It can be understood that in the embodiment of the present application, by real-time monitoring of the vertical distance between different positions at the bottom of the vehicle body and the road surface, combined with the vehicle gear information for logical judgment, and controlling the vehicle to stop parking when it is determined that the vehicle is about to drive into an uneven road surface, the active perception and risk avoidance of uneven road surfaces are realized. Moreover, by monitoring the two gear states of forward and reverse, various risk scenarios that may be encountered during parking are covered (such as when the vehicle is moving forward and encounters an uneven road surface ahead, or when the vehicle is reversing and encounters an uneven road surface behind), significantly improving the safety of vehicle parking.

[0107] In some embodiments, the vertical distance between the target position at the bottom of the vehicle body of the vehicle and the current driving road surface is detected by a distance detection device installed at the target position; a protection component is provided on the periphery of the distance detection device, and a switchable cover plate is provided at the opening of the protection component.

[0108] The vehicle parking control method further includes:

[0109] When it is determined that the vehicle starts parking, the cover plate is controlled to open, and the distance detection device is controlled to switch from the non-working state to the working state.

[0110] When it is determined that the vehicle has stopped parking, control the cover plate to close, and control the distance detection device to switch from the working state to the non-working state.

[0111] It should be noted that in the embodiments of the present application, the distance detection device may be any device capable of distance detection, such as a millimeter-wave radar, an ultrasonic sensor, etc. A protective component is provided on the periphery of the distance detection device. The protective component is a mechanical or electronic protection structure wrapped around the periphery of the distance detection device, and is used to prevent the device from being damaged by the external environment (such as stones, mud and water, collisions, etc.). A switchable cover plate is provided at the opening of the protective component. The cover plate is a movable component provided at the opening of the protective component, and can be controlled to be opened or closed. Its function is to expose the distance detection device for distance detection when needed, and to protect the distance detection device from external interference when not in use.

[0112] In some embodiments, when it is determined that the vehicle activates the automatic parking function, the cover plate can be controlled to open to expose the distance detection device, and at the same time, the distance detection device is controlled to switch from the non-working state to the working state, so that the distance detection device starts to detect distance data in real time.

[0113] In some embodiments, when it is determined that the vehicle exits the automatic parking function, the cover plate can be controlled to close to protect the distance detection device from external interference, and at the same time, the distance detection device is controlled to switch from the working state to the non-working state to reduce unnecessary energy consumption of the distance detection device.

[0114] It can be understood that in the embodiments of the present application, the design of the protective component and the switchable cover plate effectively protects the distance detection device, extends the service life of the distance detection device, and reduces the maintenance cost. Moreover, by activating the distance detection device during parking and turning off the distance detection device when not parking, unnecessary energy consumption of distance detection is reduced, and energy efficiency is improved.

[0115] In some embodiments, a millimeter-wave radar can be installed at each of the four corners of the vehicle bottom, that is, a millimeter-wave radar is installed in front of the left front wheel of the vehicle, a millimeter-wave radar is installed in front of the right front wheel of the vehicle, a millimeter-wave radar is installed behind the left rear wheel of the vehicle, and a millimeter-wave radar is installed behind the right rear wheel of the vehicle. These four millimeter-wave radars are respectively used to detect the vertical distance between different positions of the vehicle body bottom and the current driving road surface.

[0116] In some embodiments, a protection component may be disposed around each millimeter-wave radar, and a cover plate that can be automatically controlled to open and close may be disposed at the opening of the protection component. In the case of non-parking, the cover plate is in a closed state to protect the millimeter-wave radar and prevent the millimeter-wave radar from being damaged by gravel and mud splashed by the tires, ensuring that the millimeter-wave radar is intact and free of mud blockage during operation. The cover plate is only opened when automatic parking is started, and the millimeter-wave radar is activated to work. When the millimeter-wave radar is working, it can measure the distances perpendicular to the ground at the four corners of the vehicle in real time and transmit the distance information to the Vehicle Control Unit (VCU) for the VCU to determine whether the road surface that the vehicle is about to drive onto is an uneven road surface based on the four distance information and the vehicle gear information.

[0117] In some embodiments, when the VCU determines that the vehicle is in the R gear, if the vertical distance detected by the millimeter-wave radar installed behind the left rear wheel of the vehicle and / or the millimeter-wave radar installed behind the right rear wheel of the vehicle is greater than the tire radius (the tire radius here is the tire radius of the left rear wheel and the right rear wheel of the vehicle, and it is assumed that the tire radii of the left rear wheel and the right rear wheel of the vehicle are equal), and the duration is greater than 0.5 seconds, it is determined that there is an uneven road surface behind the vehicle, and the VCU sends a braking signal to stop the vehicle and exit the automatic parking.

[0118] In some embodiments, when the VCU determines that the vehicle is in the D gear, if the vertical distance detected by the millimeter-wave radar installed in front of the left front wheel of the vehicle and / or the millimeter-wave radar installed in front of the right front wheel of the vehicle is greater than the tire radius (the tire radius here is the tire radius of the left front wheel and the right front wheel of the vehicle, and it is assumed that the tire radii of the left front wheel and the right front wheel of the vehicle are equal), and the duration is greater than 0.5 seconds, it is determined that there is an uneven road surface in front of the vehicle, and the VCU sends a braking signal to stop the vehicle and exit the automatic parking.

[0119] In some embodiments, after the vehicle exits the automatic parking, the cover plate can be controlled to close to protect the millimeter-wave radar from external interference, and the millimeter-wave radar can be controlled to stop working and wait for the next start of the vehicle's automatic parking.

[0120] Exemplarily, Figure 5 is a schematic diagram of the principle of vehicle parking control provided by an embodiment of the present application, as Figure 5As shown, when it is determined that the automatic parking of the vehicle is enabled, the cover plate is opened and the radar (the radar here can refer to the millimeter-wave radar) is controlled to enter the working state, and then the vehicle gear is judged. If the vehicle gear is in the R gear, it is judged whether the distance value detected by the rear radar of the left rear wheel (i.e., the vertical distance between the rear of the left rear wheel and the road surface) is greater than the radius of the left rear wheel tire. If so, it is further judged whether the duration is greater than 5 seconds. If it is greater than 5 seconds, the vehicle brakes are controlled, and then the vehicle is controlled to exit the automatic parking. If it is judged that the distance value detected by the rear radar of the left rear wheel is not greater than the radius of the left rear wheel tire, it is further judged whether the distance value detected by the rear radar of the right rear wheel (i.e., the vertical distance between the rear of the right rear wheel and the road surface) is greater than the radius of the right rear wheel tire; if so, it is further judged whether the duration is greater than 5 seconds. If it is greater than 5 seconds, the vehicle brakes are controlled, and then the vehicle is controlled to exit the automatic parking; if not, it is judged whether the vehicle has exited the automatic parking. If the vehicle has not exited the automatic parking, the radar distance value detection continues to monitor the parking process in a loop. If the vehicle gear is in the D gear, it is judged whether the distance value detected by the front radar of the left front wheel (i.e., the vertical distance between the front of the left front wheel and the road surface) is greater than the radius of the left front wheel tire. If so, it is further judged whether the duration is greater than 5 seconds. If it is greater than 5 seconds, the vehicle brakes are controlled, and then the vehicle is controlled to exit the automatic parking. If it is judged that the distance value detected by the front radar of the left front wheel is not greater than the radius of the left front wheel tire, it is further judged whether the distance value detected by the front radar of the right front wheel (i.e., the vertical distance between the front of the right front wheel and the road surface) is greater than the radius of the right front wheel tire; if so, it is further judged whether the duration is greater than 5 seconds. If it is greater than 5 seconds, the vehicle brakes are controlled, and then the vehicle is controlled to exit the automatic parking; if not, it is judged whether the vehicle has exited the automatic parking. If the vehicle has not exited the automatic parking, the radar distance value detection continues to monitor the parking process in a loop.

[0121] It should be noted that the vehicle control unit (VCU) can be used as the execution entity for vehicle parking control to achieve intelligent control of vehicle automatic parking.

[0122] It can be understood that in the embodiment of the present application, the millimeter-wave radar is installed at the bottom of the vehicle body to achieve vertical ground ranging with long longitudinal distance, high precision and low cost, and combined with the design of a closable cover plate to protect the millimeter-wave radar from damage or occlusion, ensuring the working reliability of the millimeter-wave radar; at the same time, a duration detection algorithm is introduced to avoid mis-triggering the brakes. The millimeter-wave radar transmits the detected dangerous information such as the uneven road surface before and after to the vehicle control unit (VCU) in real time, and the VCU sends a brake signal in advance for active intervention, so as to effectively avoid damage to the vehicle chassis (especially the battery pack installed on the vehicle chassis), and significantly improve the intelligent level and safety performance of vehicle automatic parking.

[0123] The vehicle parking control device provided by the embodiments of the present application will be described below. The vehicle parking control device described below can be referred to in correspondence with the vehicle parking control method described above.

[0124] Figure 6 The following is a schematic structural diagram of a vehicle parking control device provided by the embodiments of the present application. As Figure 6 shown, the device includes: an acquisition module 610, a judgment module 620, and a control module 630; where:

[0125] The acquisition module 610 is configured to obtain the vertical distance between the target position at the bottom of the vehicle body and the current driving road surface during the vehicle parking process, and the gear information of the vehicle; the target position includes at least one of the following: the position at the bottom of the vehicle body in front of at least one front wheel of the vehicle, the position at the bottom of the vehicle body behind at least one rear wheel of the vehicle;

[0126] The judgment module 620 is configured to judge whether the vehicle is about to drive into an uneven road surface based on the vertical distance and the gear information;

[0127] The control module 630 is configured to control the vehicle to stop parking when it is determined that the vehicle is about to drive into the uneven road surface.

[0128] The vehicle parking control device provided by the embodiments of the present application, during the vehicle parking process, obtains in real time the vertical distance between the position at the bottom of the vehicle body in front of at least one front wheel and the current driving road surface, and / or the vertical distance between the position at the bottom of the vehicle body behind at least one rear wheel and the current driving road surface, and obtains the gear information of the vehicle, and then judges whether the vehicle is about to drive into an uneven road surface based on the obtained vertical distance and gear information. In this way, by identifying the uneven road surface based on the actual distance between the specific position at the bottom of the vehicle body (such as in front of the front wheel and behind the rear wheel) and the road surface and the gear information of the vehicle, it is possible to improve the defect that the related technology mainly focuses on detecting the road surface in the front and rear directions of the vehicle and has insufficient ability to identify the uneven road surface, improve the accuracy of identifying the uneven road surface, and then when it is determined that the vehicle is about to drive into the uneven road surface, timely control the vehicle to stop parking, thereby avoiding collision or scratching between the vehicle chassis and the road surface, and avoiding potential safety hazards caused by damage to the battery pack installed on the vehicle chassis, and improving the safety during the vehicle parking process.

[0129] In some embodiments, the judgment module 620 is further configured to perform one of the following:

[0130] When it is determined that the vehicle is in the forward state based on the gear information, determine whether the vehicle is about to enter an uneven road surface based on the vertical distance between the bottom position of the vehicle body in front of at least one front wheel of the vehicle and the current driving road surface;

[0131] When it is determined that the vehicle is in the reverse state based on the gear information, determine whether the vehicle is about to enter an uneven road surface based on the vertical distance between the bottom position of the vehicle body behind at least one rear wheel of the vehicle and the current driving road surface.

[0132] In some embodiments, the determination module 620 is further configured to:

[0133] Determine the vertical distance between the bottom position of the vehicle body in front of the target front wheel among at least one front wheel of the vehicle and the current driving road surface as the first distance; when it is determined that the first distance is greater than the tire radius of the target front wheel, determine that the vehicle is about to enter the uneven road surface.

[0134] In some embodiments, the determination module 620 is further configured to:

[0135] When it is determined that the first distance is greater than the tire radius of the target front wheel and the duration for which the first distance is greater than the tire radius of the target front wheel is greater than the set duration, determine that the vehicle is about to enter the uneven road surface.

[0136] In some embodiments, the determination module 620 is further configured to:

[0137] Determine the vertical distance between the bottom position of the vehicle body behind the target rear wheel among at least one rear wheel of the vehicle and the current driving road surface as the second distance; when it is determined that the second distance is greater than the tire radius of the target rear wheel, determine that the vehicle is about to enter the uneven road surface.

[0138] In some embodiments, the determination module 620 is further configured to:

[0139] When it is determined that the first distance is greater than the tire radius of the target rear wheel and the duration for which the second distance is greater than the tire radius of the target rear wheel is greater than the set duration, determine that the vehicle is about to enter the uneven road surface.

[0140] In some embodiments, the vertical distance between the target position on the bottom of the vehicle body and the current driving road surface is detected by a distance detection device installed at the target position; a protective component is provided around the distance detection device, and a switchable cover plate is provided at the opening of the protective component;

[0141] The control module 630 is further configured to:

[0142] When it is determined that the vehicle starts parking, control the cover plate to open, and control the distance detection device to switch from the non-working state to the working state;

[0143] When it is determined that the vehicle stops parking, control the cover plate to close, and control the distance detection device to switch from the working state to the non-working state.

[0144] It should be noted here that the vehicle parking control device provided in the embodiments of the present application can implement all the method steps implemented by the vehicle parking control method embodiments, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0145] Figure 7 This is a schematic plan view of a vehicle provided in the embodiments of the present application, as Figure 7 shown. The vehicle may include: a vehicle body 710 and a controller 720 disposed on the vehicle body 710; the vehicle body 710 includes a vehicle body 730 and wheels disposed at the bottom of the vehicle body. The wheels include at least one front wheel 740 and at least one rear wheel 750; the controller 720 is used to implement some or all of the steps of the vehicle parking control method provided in the above embodiments.

[0146] It should be noted that the vehicle in the embodiments of the present application may be any vehicle with an automatic parking function. Moreover, the controller 720 disposed on the vehicle body 710 of the vehicle may be a vehicle control unit VCU, or other controllers capable of controlling vehicle parking. The embodiments of the present application do not make specific limitations in this regard.

[0147] The embodiments of the present application further provide a computer-readable storage medium, in which a computer program is stored. When the computer program is run by a processor, some or all of the steps of the vehicle parking control method provided in the above embodiments are implemented.

[0148] The embodiments of the present application further provide a computer program product, which includes a computer program or instruction. When the computer program or instruction is executed by a processor, some or all of the steps of the vehicle parking control method provided in the above embodiments are implemented.

[0149] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative work.

[0150] Persons skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the embodiments of the present application can take the form of hardware embodiments, software embodiments, or a form combining software and hardware embodiments. Moreover, the embodiments of the present application 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 and optical storage, etc.) containing computer-usable program code.

[0151] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes 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 devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in one Figure 1 process or multiple processes and / or blocks Figure 1 or multiple blocks.

[0152] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so 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 one Figure 1 process or multiple processes and / or blocks Figure 1 or multiple blocks.

[0153] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 process or multiple processes and / or blocks Figure 1 or multiple blocks.

[0154] As described above, these are only alternative embodiments of the present application and are not intended to limit the scope of protection of the present application.

Claims

1. A vehicle parking control method, characterized in that, Including: During the parking process of the vehicle, obtain the vertical distance between the target position at the bottom of the vehicle body and the current driving road surface, and the gear information of the vehicle; the target position includes at least one of the following: the position at the bottom of the vehicle body in front of at least one front wheel of the vehicle, the position at the bottom of the vehicle body behind at least one rear wheel of the vehicle; Based on the vertical distance and the gear information, determine whether the vehicle is about to drive onto an uneven road surface; When it is determined that the vehicle is about to drive onto the uneven road surface, control the vehicle to stop parking.

2. The vehicle parking control method according to claim 1, wherein The determining whether the vehicle is about to drive onto an uneven road surface based on the vertical distance and the gear information includes one of the following: When it is determined based on the gear information that the vehicle is in the forward state, determine whether the vehicle is about to drive onto an uneven road surface based on the vertical distance between the position at the bottom of the vehicle body in front of at least one front wheel of the vehicle and the current driving road surface; When it is determined based on the gear information that the vehicle is in the reverse state, determine whether the vehicle is about to drive onto an uneven road surface based on the vertical distance between the position at the bottom of the vehicle body behind at least one rear wheel of the vehicle and the current driving road surface.

3. The vehicle parking control method according to claim 2, characterized in that, The determining whether the vehicle is about to drive onto an uneven road surface based on the vertical distance between the position at the bottom of the vehicle body in front of at least one front wheel of the vehicle and the current driving road surface includes: Determine the vertical distance between the position at the bottom of the vehicle body in front of the target front wheel among at least one front wheel of the vehicle and the current driving road surface as the first distance; When it is determined that the first distance is greater than the tire radius of the target front wheel, determine that the vehicle is about to drive onto the uneven road surface.

4. The vehicle parking control method according to claim 3, characterized in that, The determining that the vehicle is about to drive onto the uneven road surface when it is determined that the first distance is greater than the tire radius of the target front wheel includes: When it is determined that the first distance is greater than the tire radius of the target front wheel and the duration for which the first distance is greater than the tire radius of the target front wheel is greater than the set duration, determine that the vehicle is about to drive onto the uneven road surface.

5. The vehicle parking control method according to claim 2, wherein, The determining whether the vehicle is about to drive onto an uneven road surface based on the vertical distance between the position at the bottom of the vehicle body behind at least one rear wheel of the vehicle and the current driving road surface includes: Determine the vertical distance between the position at the bottom of the vehicle body behind the target rear wheel among at least one rear wheel of the vehicle and the current driving road surface as the second distance; When it is determined that the second distance is greater than the tire radius of the target rear wheel, determine that the vehicle is about to drive onto the uneven road surface.

6. The vehicle parking control method according to claim 5, wherein, The determining that the vehicle is about to drive onto the uneven road surface when it is determined that the second distance is greater than the tire radius of the target rear wheel includes: When it is determined that the second distance is greater than the tire radius of the target rear wheel and the duration for which the second distance is greater than the tire radius of the target rear wheel is greater than the set duration, determine that the vehicle is about to drive onto the uneven road surface.

7. The vehicle parking control method according to any one of claims 1 to 6, characterized in that, The vertical distance between the target position at the bottom of the vehicle body and the current driving road surface is detected by a distance detection device installed at the target position; a protective component is provided around the distance detection device, and a switchable cover plate is provided at the opening of the protective component; The method further includes: When it is determined that the vehicle starts parking, controlling the cover plate to open and controlling the distance detection device to switch from a non-working state to a working state; When it is determined that the vehicle stops parking, controlling the cover plate to close and controlling the distance detection device to switch from a working state to a non-working state.

8. A vehicle parking control device, characterized in that, It includes: An acquisition module, configured to acquire the vertical distance between the target position at the bottom of the vehicle body and the current driving road surface, and the gear information of the vehicle during the parking process of the vehicle; the target position includes at least one of the following: the position at the bottom of the vehicle body in front of at least one front wheel of the vehicle, the position at the bottom of the vehicle body behind at least one rear wheel of the vehicle; A judgment module, configured to judge whether the vehicle is about to drive into an uneven road surface based on the vertical distance and the gear information; A control module, configured to control the vehicle to stop parking when it is determined that the vehicle is about to drive into the uneven road surface.

9. A vehicle, characterized in that, It includes: A vehicle body and a controller provided on the vehicle body; the vehicle body includes a vehicle body and wheels provided at the bottom of the vehicle body, and the wheels include at least one front wheel and at least one rear wheel; the controller is used to implement the steps in the vehicle parking control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, A computer program is stored in the computer-readable storage medium, and when the computer program is run by a processor, the steps in the vehicle parking control method according to any one of claims 1 to 7 are implemented.

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