Vehicle parking control method and device, electronic equipment, vehicle and storage medium

Abstract

The invention provides a vehicle parking control method and device, electronic equipment, a vehicle and a storage medium. The method comprises the following steps: respectively acquiring the intention of the current travel of a vehicle and the information of a target object in the vehicle associated with the intention; the information of the target object in the vehicle comprises the space occupied by the target object in the vehicle under the condition that the parking space is limited; the intention of the current journey of the vehicle is obtained by information of a positioning scene where parking positioning of the vehicle is located and / or an object in the vehicle; based on the occupied space, determining a target moving-out space reserved by the target object in the vehicle and used for leaving the vehicle; according to the parking offset generated by the target moving-out space, parking is carried out on a parking space; the parking offset is used for indicating that the vehicle deviates to one side relative to the parking space. Therefore, the intelligent deviation of automatic parking can be realized not only by depending on the weight of the object, so that the user experience is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular, to a vehicle parking control method, device, electronic device, vehicle, and storage medium. Background Art

[0002] As the intelligence level of vehicles gets higher and higher, automatic parking has also become a standard feature of current market vehicles.

[0003] However, the current experience of automatic parking is rather rigid and cannot meet the expectations of drivers and passengers for intelligent deviation in some scenarios, resulting in a poor actual vehicle use experience. Summary of the Invention

[0004] This application provides a vehicle parking control method, device, electronic device, vehicle, and storage medium.

[0005] This application provides a vehicle parking control method, including: Obtaining the intention of the vehicle's current trip and information about the in-vehicle target object associated with the intention respectively; the information about the in-vehicle target object includes the space occupied by the in-vehicle target object in the case of limited parking space; the intention of the vehicle's current trip is obtained from the positioning scenario where the vehicle parks and / or the information of the in-vehicle object; Determining a target moving-out space reserved for the in-vehicle target object to leave the vehicle based on the occupied space; Parking the vehicle on the parking space according to the parking offset generated by the target moving-out space; the parking offset is used to represent the vehicle's offset to one side relative to the parking space.

[0006] Further, obtaining the intention of the vehicle's current trip includes: obtaining the voice of the in-vehicle person among the in-vehicle objects; according to the intention keyword of the voice; the intention keyword is used to represent the intention of the current trip; obtaining the intention of the vehicle's current trip according to the positioning scenario where the vehicle parks and the intention keyword; and / or, Obtaining the intention of the vehicle's current trip includes: capturing the intention keyword of the user's voice conversation as a wake-up word; the wake-up word is used to wake up the intention dialogue model to call the intention dialogue model to obtain the intention of the current trip.

[0007] Further, the information about the in-vehicle object includes the item information in the trunk; the item information includes the item type; obtaining the intention of the vehicle's current trip includes: determining the intention of the vehicle's current trip according to the positioning scenario where the vehicle parks and the item type associated with the positioning scenario; and / or, The obtaining of the intention of the vehicle's current trip includes: determining the parking location of the vehicle; determining the positioning scenario where the parking location of the vehicle is located according to the positioning scenarios around the parking location; and using the positioning scenario to obtain the intention of the current trip.

[0008] Further, the determining of the target moving-out space reserved for the in-vehicle target object based on the occupied space includes: Based on the occupied space of the in-vehicle target object, according to the corresponding relationship between the occupied space size of the in-vehicle object and the moving-out space, determining the target moving-out space corresponding to the occupied space of the in-vehicle target object.

[0009] Further, the information of the in-vehicle target object includes the personnel information in the passenger compartment; the personnel information includes the personnel type; The determining of the target moving-out space reserved for the in-vehicle target object based on the occupied space includes: Based on the space occupied by the personnel type, according to the corresponding relationship between the occupied space size of the in-vehicle personnel object and the left and right moving-out spaces, determining the target moving-out space corresponding to the space occupied by the personnel type; Wherein, the left and right moving-out spaces are used to indicate that the vehicle is within the parking space and is offset to the left or right relative to the parking space.

[0010] Further, the information of the in-vehicle target object includes the personnel information in the passenger compartment; the personnel information includes the personnel body type and / or the personnel with activity limitation information; The determining of the target moving-out space reserved for the in-vehicle target object based on the occupied space includes: Based on the space occupied by the personnel with the personnel body type and / or activity limitation information, according to the corresponding relationship between the occupied space size of the in-vehicle personnel object and the left and right moving-out spaces, determining the target moving-out space corresponding to the space occupied by the personnel with the personnel body type and / or activity limitation information; Wherein, the left and right moving-out spaces are used to indicate that the vehicle is within the parking space and is offset to the left or right relative to the parking space.

[0011] Further, the determining of the target moving-out space corresponding to the space occupied by the personnel with the personnel body type and / or activity limitation information based on the space occupied by the personnel with the personnel body type and / or activity limitation information, according to the corresponding relationship between the occupied space size of the in-vehicle personnel object and the left and right moving-out spaces, includes: Determine the maximum occupied space in the space occupied by the person whose body shape and activity limitation information are determined; based on the maximum occupied space, determine the target moving-out space corresponding to the maximum occupied space according to the corresponding relationship between the occupied space size of the in-vehicle object and the left and right moving-out spaces. Or, Use the space occupied by the person's body shape, and determine the target moving-out space corresponding to the space occupied by the person's body shape according to the corresponding relationship between the occupied space size of the in-vehicle object and the left and right moving-out spaces. Or, Use the space occupied by the person with activity limitation information, and determine the target moving-out space corresponding to the space occupied by the person with activity limitation information according to the corresponding relationship between the occupied space size of the in-vehicle object and the left and right moving-out spaces.

[0012] Further, the information of the in-vehicle target object includes the personnel information in the passenger compartment; the personnel information includes the person with body shape and / or activity limitation information. The method further includes: If it is determined that the space occupied by the person's body shape is greater than the preset space and / or the person with activity limitation information, do not release the narrow parking space or give an early reminder.

[0013] Further, the in-vehicle object includes the items in the trunk. The determining the target moving-out space reserved for the in-vehicle target object to leave the vehicle based on the occupied space includes: Based on the occupied space of the items in the trunk, determine the target moving-out space corresponding to the occupied space of the items in the trunk according to the corresponding relationship between the occupied space size of the in-vehicle trunk items and the front and back moving-out spaces. Wherein, the front and back moving-out spaces are used to represent that the vehicle is within the parking space and is offset forward or backward relative to the parking space.

[0014] Further, the information of the in-vehicle target object includes the item information in the trunk; the item information includes the item type; the method further includes: If it is determined according to the intention of the vehicle's current trip that the item type in the trunk has no association with the intention, reject opening the trunk and reject generating a parking offset, and park the vehicle in the parking space according to the vehicle's correct position relative to the parking space.

[0015] Further, after parking the vehicle in the parking space according to the parking offset generated according to the target moving-out space, the method further includes: If it is detected that there is a moving object beside the vehicle, return the vehicle to the correct position of the parking space. If a non - moving object is detected on the side of the vehicle opposite to the moving - out space, the control to return the vehicle to the correct position in the parking space is rejected.

[0016] This application provides a vehicle parking control device, including: An information acquisition module, configured to respectively acquire the intention of the vehicle's current trip and information of an in - vehicle target object associated with the intention; the information of the in - vehicle target object includes the space occupied by the in - vehicle target object in the case of limited parking space; the intention of the vehicle's current trip is obtained from the positioning scenario where the vehicle is to be parked and / or the information of the in - vehicle object. A target moving - out space determination module, configured to, in the case of limited parking space, determine a target moving - out space reserved for the in - vehicle target object to leave the vehicle based on the occupied space. A parking control module, configured to park the vehicle in the parking space according to the parking offset generated by the target moving - out space; the parking offset is used to represent the offset of the vehicle to one side relative to the parking space.

[0017] This application provides a vehicle on which a program is stored, and when the program is executed by a processor, the vehicle parking control method described in any one of the above is implemented.

[0018] This application provides an electronic device including one or more processors for implementing the method described in any one of the above.

[0019] This application provides a computer - readable storage medium on which a program is stored, and when the program is executed by a processor, the method described in any one of the above is implemented.

[0020] This application provides a computer program product including computer programs / instructions, and when the computer programs / instructions are executed by a processor, the method described in any one of the above is implemented.

[0021] In some embodiments, the vehicle parking control method of this application obtains the intention of the current trip and the space occupied by the in - vehicle target object, determines the target moving - out space reserved for the in - vehicle target object to leave the vehicle, and parks the vehicle in the parking space according to the parking offset. In this way, using the intention of the current trip and the space occupied by the in - vehicle target object, according to the space occupied by the in - vehicle target object, when the in - vehicle target object needs to leave the vehicle, the accuracy of the intelligent offset of automatic parking can be improved, thereby effectively improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The following shows a schematic structural diagram of the application of the vehicle parking control method according to an embodiment of this application; Figure 2The figure shows a flowchart of a vehicle parking control method provided by an embodiment of the present application; Figure 3 The figure shows a schematic structural diagram of a vehicle parking control device provided by an embodiment of the present application; Figure 4 The figure shows a specific structural diagram of a vehicle parking control device provided by an embodiment of the present application; Figure 5 The figure shows a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0023] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with one or more embodiments of this specification. Instead, they are merely examples of devices and methods consistent with some aspects of one or more embodiments of this specification as detailed in the appended claims.

[0024] It should be noted that: In other embodiments, the steps of the corresponding methods are not necessarily executed in the order shown and described in this specification. In some other embodiments, the steps included in the method may be more or less than those described in this specification. In addition, a single step described in this specification may be decomposed into multiple steps for description in other embodiments; and multiple steps described in this specification may also be combined into a single step for description in other embodiments.

[0025] To solve the technical problem that the current automatic parking experience is rather rigid and cannot meet the expectations of the driver and passengers for intelligent offset in some scenarios, resulting in a poor actual driving experience, an embodiment of the present application provides a vehicle parking control method, which obtains the intention of this trip and the space occupied by the target object in the vehicle, determines the target moving-out space reserved for the target object in the vehicle to leave the vehicle, and parks the vehicle on the parking space according to the parking offset amount. In this way, using the intention of this trip and the space occupied by the target object in the vehicle, according to the space occupied by the target object in the vehicle, when the target object in the vehicle needs to leave the vehicle, the accuracy of the intelligent offset of automatic parking can be improved, thereby effectively improving the user experience.

[0026] Figure 1 The figure shows a schematic structural diagram to which the vehicle parking control method of an embodiment of the present application is applied.

[0027] As Figure 1 shown, the vehicle parking control method is applied to a vehicle parking control system. The vehicle parking control system may include, but is not limited to, a vehicle and the cloud.

[0028] Among them, the above-mentioned cloud is used to identify the objects inside the vehicle, obtain the intention of the vehicle's current trip, and based on the intention, further determine whether a target removal space for leaving the vehicle is reserved for the target object inside the vehicle. When the target object inside the vehicle has nothing to do with the intention, there is no need to reserve a target removal space for leaving the vehicle. When the target object inside the vehicle is related to the intention and the target object inside the vehicle needs to leave the vehicle, a target removal space for leaving the vehicle needs to be reserved.

[0029] Among them, the target removal space is used to facilitate the target object inside the vehicle to leave the vehicle. The target object inside the vehicle is used to represent the object that needs to leave the vehicle. At least any one of the objects inside the vehicle that needs to leave the vehicle is called the target object inside the vehicle. The above-mentioned target object inside the vehicle may include, but is not limited to, at least one of the items in the trunk and the people in the passenger compartment.

[0030] The above-mentioned vehicle is used to predict subsequent actions in combination with parking positioning and / or the target object inside the vehicle, intelligently select a parking space, and perform operations such as automatic offset within the parking space, so as to improve the parking experience.

[0031] Since the parking spaces in many places are relatively tight, when the vehicle needs to park in a parking space, if there are other objects on one side or both sides of the vehicle, after the door system of the vehicle is opened, a narrow space is formed with other surrounding obstacles, which is called limited parking space. Among them, the door system may include the door and / or the rear door of the trunk. In this way, the limited parking space makes it inconvenient for the target object inside the vehicle to leave the vehicle. For example, it is inconvenient for the people in the passenger compartment to open the door and get out of the vehicle, or it is inconvenient for the items in the trunk to open the rear door and take them out. Herein, the parking space may include, but is not limited to, at least one of side-by-side parking spaces, tandem parking spaces, and multi-row multi-column parking spaces.

[0032] In this regard, the vehicle parking control method provided by the embodiments of the present application can, in the case of limited parking space, combine factors such as parking positioning and / or the objects inside the vehicle to predict whether the objects inside the vehicle need to be removed from the vehicle, so as to determine the use situation of the door and / or the rear door of the trunk. Then, according to the parking offset generated by the target removal space of the target object inside the vehicle, guide the vehicle to perform an offset to facilitate getting on and off passengers and / or opening the rear door. For a detailed description, see below.

[0033] Figure 2 The figure shows a schematic flow chart of the vehicle parking control method provided by the embodiments of the present application.

[0034] As Figure 2 shown, the vehicle parking control method may include, but is not limited to, the following steps 110 to step 130: Step 110, obtain the intention of the vehicle's current trip and the information of the in-vehicle target object associated with the intention respectively; the information of the in-vehicle target object includes the space occupied by the in-vehicle target object in the case of limited parking space; the intention of the vehicle's current trip is obtained from the positioning scenario where the vehicle's parking location is located and / or the information of the in-vehicle object. Thus, compared with the related art where the weights of two children can be equal to that of an adult and only relying on weight, these objects cannot be distinguished. In the embodiments of the present application, the intention and the information of the in-vehicle target object associated therewith are used to provide associated information, not just relying on the weights of all items, and the intention of the vehicle's current trip can be provided, thereby improving the accuracy of the intelligent offset of automatic parking.

[0035] In the vehicle of the embodiments of the present application, there are in-vehicle objects, and the in-vehicle objects associated with the intention are called in-vehicle target objects. Thus, the in-vehicle target objects can represent the association with the intention.

[0036] The above-mentioned intention of the vehicle's current trip is used to represent the destination that the user wants to reach or the purpose that the user wants to achieve when using the vehicle this time. The intention may include but is not limited to at least one of shopping, visiting friends, hospitalization, camping, etc.

[0037] The parking positioning in the embodiments of the present application is used to represent whether the in-vehicle object is related to the user's intention when the vehicle parks. The determination method of parking positioning refers to determining the positioning scenario indicated by the vehicle positioning according to the specific positioning location. For example, the positioning scenario indicated by the vehicle positioning may include but is not limited to at least one of a park, a supermarket, a hospital, a shopping center, a residential area, etc., and will not be exemplified one by one here.

[0038] Example 1, by positioning the vehicle as a park, it is determined that the intention of the vehicle's current trip is to go to the park to visit the park.

[0039] Example 2, by positioning the vehicle as a supermarket, it is determined that the intention of the vehicle's current trip is to go to the supermarket to shop.

[0040] Example 3, by positioning the vehicle as a hospital, it is determined that the intention of the vehicle's current trip is to go to the hospital to be hospitalized.

[0041] Figure 3 Shown as Figure 2 The specific process schematic diagram of the vehicle parking control method shown.

[0042] Such as Figure 3As shown above, the vehicle parking control method further includes: obtaining the parking position of the positioning vehicle and detecting the positioning scenario around the parking position as the positioning scenario where the vehicle parks. For example, use the vehicle ADPU (Autonomous Driving Positioning Unit) positioning module to position the parking position of the vehicle, detect the positioning scenario around the parking position, and use the positioning scenario with the closest distance as the positioning scenario where the vehicle parks.

[0043] In step 110 above, the in-vehicle target object associated with the intention can be determined in the following way: the in-vehicle target object includes the item type in the trunk; according to the positioning scenario where the vehicle parks and the item type, determine the intention of the vehicle's current trip and determine the in-vehicle target object associated with the intention.

[0044] When the in-vehicle target object is related to the intention and the space occupied by the in-vehicle target object is large, a relatively large target removal space for leaving the vehicle needs to be reserved. When the in-vehicle target object is related to the intention and the space occupied by the in-vehicle target object is small, a relatively small target removal space for leaving the vehicle needs to be reserved. For detailed description, please refer to the following text.

[0045] Step 120: Based on the occupied space, determine the target removal space reserved for the in-vehicle target object to leave the vehicle.

[0046] When the in-vehicle target object needs to leave the vehicle, the vehicle door system needs to be opened to reserve the removal space for leaving the vehicle. The removal space required by this in-vehicle target object is called the target removal space. This target removal space can include, but is not limited to, the default parking space when the vehicle is exactly in the parking space. Here, the vehicle being in the correct position means that the vehicle is located in the exact middle position of the parking space relative to the parking space.

[0047] Based on this, the space occupied by the in-vehicle target object is used to indicate whether the in-vehicle target object needs a target removal space to leave the vehicle and the specific target removal space required.

[0048] For the items in the trunk as the in-vehicle target object, first, according to the association relationship between the item type and the parking position, determine the item type associated with the parking position to determine that the associated item needs to leave the vehicle and open the trunk. Then, determine and control the target removal space reserved at the rear of the vehicle to facilitate taking out the associated items from the trunk. For example, the information of the in-vehicle object includes the volume of the associated item, and the volume of the associated item is positively correlated with the target removal space, that is, the larger the volume of the associated item, the larger the reserved target removal space.

[0049] The information of the above-mentioned objects in the vehicle may include but is not limited to the types of items. The types of items may include but are not limited to at least one of daily necessities, baby strollers, camping equipment, fruit gifts, etc., and no further examples are given here.

[0050] In an embodiment of the present application, the above-mentioned vehicle parking control method further includes: detecting the type of items in the trunk of the vehicle, and performing volume recognition on the type of items in the trunk to determine the space occupied by the items. The specific detection method of the type of items in the trunk of the vehicle is, for example, photographing the items through a camera in the trunk of the vehicle, extracting the outline of the items, and using the outline of the items to classify the items to determine the type of items in the trunk, and calculate the volume of the items. The above-mentioned method of classifying items may include using a visual CNN (Convolutional Neural Network) to process the image of the item, and classifying the output results of the image into various item types.

[0051] For the personnel whose target object in the vehicle is the passenger compartment, the personnel need to get off the vehicle, and the target removal space is the side where the personnel get off the vehicle. If the left and right doors of the vehicle both need personnel to get off the vehicle, the target removal space on one side reserved by the vehicle can be determined and controlled to facilitate the personnel on this side to get off the vehicle. Then, the target removal space on the other side reserved by the vehicle is determined and controlled to facilitate the personnel on this side to get off the vehicle again. For example, the information of the object in the vehicle includes the body size of the personnel. The body size of the personnel is positively correlated with the target removal space, that is, the larger the body size of the personnel, the larger the reserved target removal space. For another example, the object in the vehicle includes the type of personnel. The type of personnel includes personnel with limited mobility and / or large-sized personnel. Among them, the determination method of large-sized personnel is obtained by comprehensive judgment based on weight, body size, and adaptability of the space in the vehicle, such as the length of the seat belt. Personnel with limited mobility are used to indicate personnel who need help from others to get off the vehicle and cannot get off the vehicle independently. The person with limited mobility of the person may include but is not limited to at least one of infants, the elderly, the disabled, etc., and examples are not given one by one here.

[0052] In an embodiment of the present application, the above-mentioned vehicle parking control method also includes: a first step of detecting the type of object in the car; wherein the type of object in the car may be but is not limited to the type of object and the type of person; and a second step of identifying the body shape of users other than those with restricted mobility to determine the space they occupy. For example, the type and number of people are detected by the camera in the car to classify the people. Among them, the types of people are divided into infants, elderly people, and other types; at the same time, the other types of people are further classified into large body types and others; in summary, the types of people are divided into infants, elderly people, large body types, and other types. The above-mentioned method of personnel classification may include using a visual CNN to process facial images and / or body images of people, and classifying the output results of the images into the above-mentioned 4 types of people.

[0053] Step 130: Park the vehicle on the parking space according to the parking offset generated based on the target exit space; the parking offset is used to represent the offset of the vehicle to one side relative to the parking space.

[0054] For the above-mentioned Step 130, according to the target exit space, generate a parking offset in the direction opposite to the target exit space, and this parking offset causes the vehicle to offset to one side relative to the parking space. This parking offset is in the direction opposite to the target exit space and is the value obtained by subtracting the default parking space from the target exit space in the same direction. In this way, it is convenient for the target person in the vehicle to get out of the vehicle and / or take the items in the trunk out of the vehicle.

[0055] In some examples, if the occupants in the passenger compartment get out of the vehicle on the right side of the vehicle, the parking offset is the amount of offset to the left side, and the vehicle is controlled to be relatively parallel to the parking space according to the amount of offset to the left side. The offset here is also called translation.

[0056] In other examples, if the occupants in the passenger compartment get out of the vehicle on the left side of the vehicle, the parking offset is the amount of offset to the right side, and the vehicle is controlled to be relatively parallel to the parking space according to the amount of offset to the right side.

[0057] In still other examples, if there are items associated with the trunk of the vehicle leaving the vehicle from the rear side, the parking offset is the amount of offset to the front side, and the vehicle is controlled to be relatively parallel to the parking space according to the amount of offset to the front side.

[0058] In addition, if there are no items associated with the trunk of the vehicle leaving the vehicle from the rear side, the parking offset is zero, and the vehicle parks on the parking space according to the vehicle being exactly in the correct position of the parking space and according to the default parking space. Or, if there are no items associated with the trunk of the vehicle leaving the vehicle from the rear side, the parking offset is the default value of offset to the rear side, and the vehicle is controlled to be relatively parallel to the parking space according to the default value of offset to the rear side.

[0059] Regarding this, the vehicle parking control method in the embodiments of the present application further includes the following steps: The first step: Obtain the intention of the vehicle's current trip and the in-vehicle image; according to the intention and the in-vehicle image, determine whether there is an in-vehicle target object associated with the intention in the vehicle. The second step: If there is no in-vehicle target object, it means that there is no need to open the door system and there is no need to reserve a target exit space for the in-vehicle target object to leave the vehicle, then the following steps can be executed: Reject generating a parking offset, and park the vehicle on the parking space according to the correct position of the vehicle relative to the parking space to achieve automatic parking. The fourth step: If there is an in-vehicle target object, it means that it is necessary to open the door system and it is also necessary to reserve a target exit space for the in-vehicle target object to leave the vehicle, then at least one of the following optional examples can be executed: In a first alternative example, a target moving-out space reserved for the target object in the vehicle to leave the vehicle is determined, and the present method including the above step 130 is continued to be executed.

[0060] In a second alternative example, an image around the vehicle is acquired; if it is determined according to the above image around the vehicle that the parking space of the vehicle is limited, it means that a target moving-out space reserved for the target object in the vehicle to leave the vehicle needs to be reserved, then a target moving-out space reserved for the target object in the vehicle to leave the vehicle is determined, the space occupied by the target object in the vehicle in the case of limited parking space is acquired, and the present method including the above steps 120 to 130 is continued to be executed.

[0061] Specifically, when the door system needs to be opened, an image around the vehicle is acquired; according to the above image around the vehicle, it is detected whether there is an obstruction to the vehicle to determine whether there is a limited parking space. When it is detected that there is no limited parking space for the vehicle, generating a parking offset is rejected, and parking is performed on the parking space according to the vehicle's alignment relative to the parking space to achieve automatic parking. When it is detected that there is a limited parking space for the vehicle, the space occupied by the target object in the vehicle in the case of limited parking space is acquired, and the following steps 120 to 130 of the present method are continued to be executed.

[0062] In the related art, a vehicle is controlled to park forward through a weight sensor. Specifically, in the trunk sensed by the weight sensor. If the weight of the loaded luggage is heavier than a preset weight, the driver believes that there is more luggage or a larger volume of luggage to be taken out of the trunk, then the luggage is taken out of the trunk, so that the vehicle can be controlled to automatically park in the surrounding parking spaces.

[0063] However, for some relatively large items, the weight is not necessarily heavy, and for items of the same weight, the occupied volume is not necessarily the same. For items of different weights, the occupied volume may also be the same. Therefore, controlling vehicle parking through a weight sensor has low accuracy.

[0064] To solve the above technical problem of low accuracy in controlling vehicle parking through a weight sensor, an embodiment of the present application provides a vehicle parking control method, which obtains the intention of this trip and the space occupied by the target object in the vehicle, determines the target moving-out space reserved for the target object in the vehicle to leave the vehicle, and parks the vehicle in the parking space according to the parking offset. In this way, it is not only dependent on the weight of the object, but also can achieve intelligent offset for automatic parking. Moreover, by using the intention of this trip and the space occupied by the target object in the vehicle, when the space occupied by the target object in the vehicle is large and the target object needs to leave the vehicle, the accuracy of the intelligent offset for automatic parking can be improved. Further, the vehicle is offset to one side so that the occupants in the passenger compartment of the vehicle can get off the vehicle conveniently from one side, solving the problem that it is inconvenient for users to get off the vehicle in the prior art when the parking space is limited, and / or taking out items from one side of the trunk, effectively improving the user experience.

[0065] Combined with Figure 2 As shown, the above step 120 in the embodiment of the present application can be implemented by at least one of the following embodiments: In the first embodiment of the above step 120, based on the space occupied by the target object in the vehicle, according to the corresponding relationship between the occupied space size of the object in the vehicle and the moving-out space, the target moving-out space corresponding to the space occupied by the target object in the vehicle is determined.

[0066] For the above step 120 or the above first embodiment, when the object in the vehicle includes the people in the vehicle, the information of the target object in the vehicle includes the personnel information in the passenger compartment; the personnel information includes the personnel body type and / or the information of restricted activities of the personnel. Correspondingly, (1), based on the space occupied by the personnel with the personnel body type and / or the information of restricted activities, according to the corresponding relationship between the occupied space size of the personnel object in the vehicle and the left and right moving-out spaces, the target moving-out space corresponding to the space occupied by the personnel with the personnel body type and / or the information of restricted activities is determined. Among them, the left and right moving-out spaces are used to represent that the vehicle is in the parking space and is offset to the left or right relative to the parking space.

[0067] The above left and right moving-out spaces may include, but are not limited to, the left moving-out space and / or the right moving-out space. The left moving-out space is used to represent that the vehicle is in the parking space and is offset to the right relative to the parking space, leaving the left space. The right moving-out space is used to represent that the vehicle is in the parking space and is offset to the left relative to the parking space, leaving the right space.

[0068] When the personnel get off the vehicle from the right side, the right moving-out space is reserved and the vehicle is offset to the left. When the personnel get off the vehicle from the left side, the left moving-out space is reserved and the vehicle is offset to the right.

[0069] In the embodiments of the present application, "left side" refers to the left side of the vehicle relative to the front of the vehicle with the front of the vehicle being the front. "Right side" refers to the right side of the vehicle relative to the front of the vehicle with the front of the vehicle being the front. "Towards the left" refers to the position of the vehicle that is to the left relative to the correct position of the parking space. "Towards the right" refers to the position of the vehicle that is to the right relative to the correct position of the parking space.

[0070] Further, any of the following examples can be used to implement the above step (1): In the first alternative example, determine the maximum occupied space in the space occupied by the person whose body type and movement restriction information are determined; based on the maximum occupied space, determine the target removal space corresponding to the maximum occupied space according to the corresponding relationship between the occupied space size of the in-vehicle object and the left and right removal spaces. In this way, the removal space can be provided for each person according to the maximum occupied space, facilitating each person to get off the vehicle.

[0071] In the second alternative example, use the space occupied by the person's body type, and determine the target removal space corresponding to the space occupied by the person's body type according to the corresponding relationship between the occupied space size of the in-vehicle object and the left and right removal spaces. In this way, the target removal space can be allocated to each person according to the space occupied by each person's body type, so as to facilitate each person to get off the vehicle.

[0072] In the embodiments of the present application, the spaces occupied by different body types of people are preset to correspond to different left and right removal spaces. The corresponding relationship between the occupied space size of the in-vehicle object and the left and right removal spaces may include a one-to-one corresponding relationship between the occupied space size of the in-vehicle object and the left and right removal spaces.

[0073] In the third alternative example, use the space occupied by the person with movement restriction information, and determine the target removal space corresponding to the space occupied by the person with movement restriction information according to the corresponding relationship between the occupied space size of the in-vehicle object and the left and right removal spaces.

[0074] For the above-mentioned people with different movement restriction information, they correspond to different left and right removal spaces. The corresponding relationship between the occupied space size of the in-vehicle object and the left and right removal spaces includes a one-to-one corresponding relationship between the occupied space size of the in-vehicle object and the left and right removal spaces.

[0075] Exemplarily, when the person with movement restriction information is an infant, the reserved target removal space can be greater than or equal to the reserved target removal space when the person with movement restriction information is an elderly person.

[0076] In the second embodiment of the above step 120, based on the space occupied by the target object in the vehicle, determine the space with the largest occupied space; according to the largest occupied space, determine the default maximum target removal space corresponding to the largest occupied space as the target removal space.

[0077] If a person with restricted movement information and / or a person with a large body size is the maximum occupied space, a default maximum target removal space is reserved.

[0078] In addition, as an embodiment of the present application, the information of the in-vehicle target object described above includes the personnel information in the passenger compartment; the personnel information includes a person with a body size and / or restricted movement information. Correspondingly, the vehicle parking control method further includes that if it is determined that the space occupied by the body size of a person is greater than a preset space and / or a person with restricted movement information, the narrow parking space is not released or a reminder is given in advance. Wherein, the preset space is used to represent a relatively large space. In this way, if there are babies, elderly people, or people with a large body size in the vehicle, the narrow parking space is not released or a reminder is given in advance, which can improve the safety of getting off the vehicle for the people in the vehicle and also facilitate parking and getting off.

[0079] The above normal parking space can be used for a width greater than or equal to 2.5 m and a length greater than or equal to 5.3 m. The length and width of the narrow parking space are both smaller than those of the normal parking space.

[0080] If the people in the vehicle are only babies or the elderly, help them get off the vehicle, do not release the parking space. The parking space is narrow, please ask the passengers to get off first, and then park the vehicle.

[0081] In the third embodiment of step 120 above, the in-vehicle object includes the items in the trunk. For the in-vehicle object including the items in the trunk of the vehicle, based on the space occupied by the items in the trunk, according to the correspondence between the occupied space size of the items in the trunk of the vehicle and the front and rear removal spaces, determine the target removal space corresponding to the space occupied by the items in the trunk; wherein, the front and rear removal spaces are used to represent that the vehicle is in the parking space and is offset forward or backward relative to the parking space.

[0082] The above front and rear removal spaces may include, but are not limited to, a front-side removal space and / or a rear-side removal space. The front-side removal space is used to represent that the vehicle is in the parking space and is offset backward relative to the parking space, leaving the front-side space. The rear-side removal space is used to represent that the vehicle is in the parking space and is offset forward relative to the parking space, leaving the rear-side space.

[0083] When the items in the trunk are taken out of the vehicle from the rear side, reserve the rear-side removal space and the vehicle moves forward. When there are no items in the trunk taken out of the vehicle from the rear side, reserve the front-side removal space and the vehicle moves backward, or the vehicle parks in the correct position relative to the parking space.

[0084] In the embodiments of the present application, the "front side" refers to the front side of the vehicle relative to the vehicle head with the vehicle body as the reference center and the vehicle head as the due front. The "rear side" refers to the rear side of the vehicle relative to the vehicle head with the vehicle body as the reference center and the vehicle head as the due front. "Forward" refers to the position of the vehicle that is relatively forward with respect to the due position of the parking space. "Backward" refers to the position of the vehicle that is relatively backward with respect to the due position of the parking space.

[0085] In the embodiments of the present application, the space occupied by the items in different trunks is preset, corresponding to different forward removal spaces. The correspondence between the occupied space size of the trunk items in the vehicle and the front and rear removal spaces may include, but is not limited to, the correspondence between the occupied space size of the trunk items in the vehicle and the rear removal space. For example, the one-to-one correspondence between the occupied space size of the trunk items in the vehicle and the rear removal space.

[0086] Example 1: There is an object in the trunk and the item is relatively large, then the target removal space is relatively large.

[0087] Example 2: There is an object in the trunk and the item is relatively small, then the target removal space is relatively small.

[0088] In the embodiments of the present application, a target removal space is reserved for the item object to facilitate taking the item out of the vehicle.

[0089] Of course, the first embodiment, the second embodiment, and the third embodiment of step 120 above can be combined or implemented separately. For example, if there is a baby in the vehicle and a baby stroller in the trunk, it is likely that the rear door needs to be opened to take out the baby stroller. Reserve the target removal space for the baby to get off and the target removal space for taking down the baby stroller. Therefore, for intelligent parking offset, the vehicle can offset forward and to the other side of the position where the baby is located. In this way, it is convenient to carry the baby out of the vehicle and open the trunk to take items.

[0090] As an embodiment, the information of the target object in the vehicle includes the item information in the trunk; the item information includes the item type; the method may further include, but is not limited to, if it is determined according to the intention of the vehicle's current trip that the item type in the trunk has no association with the intention, then reject opening the trunk and reject generating a parking offset amount, and park the vehicle in the parking space according to the due position of the vehicle relative to the parking space. In this way, when the item type in the trunk has no association with the intention, there is no need to open the trunk and no need to perform an offset.

[0091] As an embodiment, if the information of the target object in the vehicle does not include the passengers in the vehicle and the passengers in the vehicle do not include passengers with body size and / or activity limitation information, then release the parking space normally and park the vehicle in the parking space according to the due position of the vehicle relative to the parking space.

[0092] Combined Figure 2As shown in the figure, the following at least one method is adopted in step 110 to obtain the intention of the vehicle's current trip: In the first optional method, obtain the voice of the passengers inside the vehicle among the objects inside the vehicle; according to the intention keywords in the voice; the intention keywords are used to represent the intention of the current trip; according to the positioning scenario where the vehicle is parked and the intention keywords, obtain the intention of the vehicle's current trip. In this way, the intention of the vehicle's current trip can be accurately obtained through the voice of the passengers inside the vehicle.

[0093] In the embodiments of the present application, an AI (Artificial Intelligence Model) model can be used to perform intention recognition on the voice and / or user voice dialogue to obtain the intention. The AI model can include, but is not limited to, models of services such as chat-GPT (Chat Generative Pre-trained Transformer), Doubao, Tongyi Qianwen, and Wenxin Yiyan. Any AI model with the ability to perform intention recognition on the voice to obtain the intention and so on belongs to the protection scope of the embodiments of the present application. In this way, the AI model builds a bridge between people and technology through natural language, realizes memorizing historical dialogue content, conducts multi-round dialogue coherence, does not require repeated input of keywords, and the information acquisition is smoother. At the same time, the AI model can perform in-depth intention analysis to determine the information that the user actually needs to search for, and can also give feedback messages to the user in an anthropomorphic manner.

[0094] In this regard, for example, the voice is "go camping and have a picnic in the wild", and the voice contains intention keywords related to camping such as "camping" and "picnic". Correspondingly, the intention of the current trip is related to camping.

[0095] For another example, the voice is "which department to register for and which doctor to see", and the voice contains intention keywords related to the hospital such as "which department to register for" and "seeing a doctor". Correspondingly, the intention of the current trip is...

[0096] For yet another example, the voice is "what to buy", and the voice contains intention keywords related to shopping such as "buy" and "purchase". Correspondingly, the intention of the current trip is to buy something.

[0097] In the second optional method, capture the intention keywords in the collected user voice dialogue as wake-up words; the wake-up words are used to wake up the intention dialogue model to call the intention dialogue model to obtain the intention of the current trip. The intention dialogue model here can include the above AI model and / or neural network model. In this way, taking the above intention keywords as wake-up words, when it is detected that these intention keywords are awakened, then the intention is recognized, which can save energy and is also more efficient and accurate.

[0098] In a third alternative approach, the information of the in-vehicle object includes the information of the items in the trunk; the item information includes the item type; obtaining the intention of the vehicle's current trip, including: determining the intention of the vehicle's current trip according to the positioning scenario where the vehicle is parked and the item type associated with the positioning scenario.

[0099] Example 1: The positioning scenario where the vehicle is parked is around a shopping mall, and the preliminary judgment of the intention is shopping.

[0100] Example 2: There are daily sundries in the trunk, and the positioning scenario where the vehicle is parked is around a hospital, and the preliminary judgment of the intention is hospitalization, etc.

[0101] In the above third alternative approach, the positioning scenario where the vehicle is parked and its related item type can more precisely determine the intention of the vehicle's current trip according to the positioning scenario, and then open the trunk so that the user can take out the items in the trunk.

[0102] In a fourth alternative approach, determine the parking position of the vehicle; according to the positioning scenario around the parking position, determine the positioning scenario where the vehicle is parked; use the positioning scenario to obtain the intention of the current trip. In this way, only using the parking position to determine the intention of the current trip is faster and more convenient for subsequent offset control of parking.

[0103] Combined with Figure 2 As shown, as an embodiment, after the above step 130, the vehicle parking control method may further include, but is not limited to, the following two steps: First, if it is detected that there is a moving object beside the vehicle, then return the vehicle to the correct position of the parking space. In this way, automatic return can avoid scratching. Subsequently, the above vehicle parking control method may further include storing the parking position on the parking space according to the parking offset; before the user gets in the car, receiving a control command for getting in the car with an offset in advance, extracting the parking position before the correct position of the stored parking space, and re-parking on the parking space according to the parking offset.

[0104] Second, if it is detected that there is a non-moving object on the side of the vehicle opposite to the moving-out space, then reject the control to return the vehicle to the correct position of the parking space. In this way, it is possible to park on the parking space according to the parking offset, making the vehicle offset to one side relative to the parking space, which is convenient for the user to get in the car again and also avoids scratching.

[0105] Among them, a moving object is used to represent an object that moves relative to the vehicle around the vehicle in a parked state, making the vehicle prone to being scratched. A moving object such as another vehicle parked in an adjacent parking space to this parking space. Another example is a pedestrian near the sidewalk and other objects that need to be automatically returned.

[0106] In contrast, a non-moving object is an object that is stationary relative to a vehicle when the vehicle is in a parked state. This non-moving object may include, but is not limited to, at least one of a pillar, a wall, etc., and is an object that does not require automatic centering.

[0107] Based on the same inventive concept as the above method, an embodiment of the present application further provides a vehicle parking control device, as Figure 3 shown, this device may include the following various modules: An information acquisition module 31, configured to respectively acquire the intention of the vehicle's current trip and information about the in-vehicle target object associated with the intention; the information about the in-vehicle target object includes the space occupied by the in-vehicle target object in the case of limited parking space; the intention of the vehicle's current trip is obtained from the positioning scenario where the vehicle parks and / or the information about the in-vehicle object. A target moving-out space determination module 32, configured to, in the case of limited parking space, determine a target moving-out space reserved for the in-vehicle target object to leave the vehicle based on the occupied space. A parking control module 33, configured to park the vehicle in a parking space according to the parking offset generated by the target moving-out space; the parking offset is used to represent the vehicle's offset to one side relative to the parking space.

[0108] As Figure 4 shown, the above vehicle parking control device further includes: a detection module 30, which includes at least any one of a positioning detection sub-module 301, an item detection sub-module 302, and a personnel detection sub-module 303; As an embodiment, the positioning detection sub-module 301 is configured to determine the parking position of the positioned vehicle and detect the positioning scenario around the parking position as the positioning scenario where the vehicle parks as described above.

[0109] As an embodiment, the above vehicle parking control device further includes: an item detection sub-module 302, configured to detect the type of items in the vehicle's trunk and perform volume recognition on the type of items in the trunk to determine the space they occupy.

[0110] As an embodiment, the above vehicle parking control device further includes: a personnel detection sub-module 303, configured to detect the type of in-vehicle objects; where the type of in-vehicle objects may include, but is not limited to, the type of items and the type of personnel; perform body shape recognition on users other than those with restricted movement to determine the space they occupy.

[0111] As an embodiment, the above vehicle parking control device further includes or the above information acquisition module 31 includes: an intention recognition module 311, configured to recognize the intention of the vehicle's current trip according to the positioning scenario where the vehicle parks and / or the information about the in-vehicle object.

[0112] As an embodiment, the information of the target object in the vehicle includes the personnel information in the passenger compartment; the personnel information includes the personnel body shape and / or the information of personnel with limited mobility. Correspondingly, the vehicle parking control device further includes: a vehicle release control module 34, configured to, if it is determined that the space occupied by the personnel body shape is greater than the preset space and / or the personnel with limited mobility information, not release the narrow parking space or give an early reminder.

[0113] As an embodiment, the information of the target object in the vehicle includes the item information in the trunk; the item information includes the item type; correspondingly, the vehicle parking control device further includes: a parking control module 33, further configured to, if it is determined according to the intention of the vehicle's current trip that the item type in the trunk has no association with the intention, refuse to open the trunk and refuse to generate a parking offset, and park the vehicle on the parking space according to the correct position of the vehicle relative to the parking space.

[0114] As an embodiment, the vehicle parking control device further includes: a correct-position control module, configured to, after parking the vehicle on the parking space according to the parking offset generated according to the target moving-out space, if it is detected that there is a moving object beside the vehicle, return the vehicle to the correct position of the parking space; a refusal correct-position control module, configured to, after parking the vehicle on the parking space according to the parking offset generated according to the target moving-out space, if it is detected that there is a non-moving object on the side of the vehicle opposite to the moving-out space, refuse to control the vehicle to return to the correct position of the parking space.

[0115] Each module / sub-module of the above device corresponds to the steps of the above method. The implementation processes of the functions and roles of each module / sub-module in the above device are specifically detailed in the implementation processes of the corresponding steps in the above method, and the same technical effects can be achieved, which will not be elaborated here.

[0116] An embodiment of the present application provides an electronic device, including the above vehicle parking control device.

[0117] The above electronic device may be a PC (Personal Computer) terminal device. Among them, the PC terminal device may include, but is not limited to, a desktop computer, a tablet computer, a cloud server, or a notebook computer.

[0118] An embodiment of the present application provides a vehicle, including the above vehicle parking control device.

[0119] Exemplarily, the vehicle may include, but is not limited to, one or more of heavy trucks, light commercial vehicles, and passenger vehicles.

[0120] Figure 5 The structure diagram of the electronic device 50 provided by an embodiment of the present application is shown.

[0121] As Figure 5As shown, the electronic device 50 includes one or more processors 51 for implementing the vehicle parking control method as described above.

[0122] In some embodiments, the electronic device 50 may include a storage medium 59. For example, a computer-readable storage medium may store a program that can be called by the processor 51 and may include a non-volatile storage medium. In some embodiments, the electronic device 50 may include a memory 58 and an interface 57. In some embodiments, the electronic device 50 may also include other hardware according to actual applications.

[0123] The computer-readable storage medium of the embodiments of the present application stores a program that, when executed by the processor 51, is used to implement the vehicle parking control method described above.

[0124] The present application provides a computer program product including computer program / instructions that, when executed by a processor, implement the method described in any one of the above.

[0125] The embodiments of the present application also provide a computer program stored in a computer-readable storage medium, for example, Figure 5 the storage medium 59, and when the processor executes the computer program, it causes the processor 51 to execute the method described above.

[0126] The present application may be in the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-readable storage media include permanent and non-permanent, removable and non-removable media and can store information by any method or technology. The information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0127] In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as "front", "rear", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application.

[0128] The above are only the preferred embodiments of this specification and are not intended to limit this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this specification shall be included within the scope of protection of this specification.

[0129] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device including 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, commodity or device. Without further limitation, the element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, commodity or device including the said element.

Claims

1. A vehicle parking control method, characterized in that, Including: Obtaining the intention of the vehicle's current trip and information about the in-vehicle target object associated with the intention respectively; The information about the in-vehicle target object includes the space occupied by the in-vehicle target object in the case of limited parking space; the intention of the vehicle's current trip is obtained from the positioning scenario where the vehicle parks and / or the information of the in-vehicle object; Based on the occupied space, determining a target removal space reserved for the in-vehicle target object to leave the vehicle; Parking the vehicle on the parking space according to the parking offset generated based on the target removal space; the parking offset is used to represent the vehicle offset to one side relative to the parking space.

2. The vehicle parking control method according to claim 1, wherein, The obtaining the intention of the vehicle's current trip includes: obtaining the voice of the in-vehicle person among the in-vehicle objects; according to the intention keyword of the voice; the intention keyword is used to represent the intention of the current trip; obtaining the intention of the vehicle's current trip according to the positioning scenario where the vehicle parks and the intention keyword; And / or, The obtaining the intention of the vehicle's current trip includes: capturing the intention keyword of the user voice conversation collected as a wake-up word; the wake-up word is used to wake up the intention conversation model to call the intention conversation model to obtain the intention of the current trip.

3. The vehicle parking control method according to claim 1, wherein, The information about the in-vehicle object includes the item information in the trunk; the item information includes the item type; the obtaining the intention of the vehicle's current trip includes: determining the intention of the vehicle's current trip according to the positioning scenario where the vehicle parks and the item type associated with the positioning scenario; And / or, The obtaining the intention of the vehicle's current trip includes: determining the parking position of the vehicle; according to the positioning scenario around the parking position, determining the positioning scenario where the vehicle parks; using the positioning scenario to obtain the intention of the current trip.

4. The vehicle parking control method according to claim 1, wherein, The determining the target removal space reserved for the in-vehicle target object to leave the vehicle based on the occupied space includes: Based on the occupied space of the in-vehicle target object, determining the target removal space corresponding to the occupied space of the in-vehicle target object according to the corresponding relationship between the occupied space size of the in-vehicle object and the removal space.

5. The vehicle parking control method according to claim 1 or 4, characterized in that The information about the in-vehicle target object includes the personnel information in the passenger compartment; the personnel information includes the personnel type; The determining the target removal space reserved for the in-vehicle target object to leave the vehicle based on the occupied space includes: Based on the space occupied by the personnel type, determining the target removal space corresponding to the space occupied by the personnel type according to the corresponding relationship between the occupied space size of the in-vehicle personnel object and the left and right removal spaces; Wherein, the left and right removal spaces are used to represent that the vehicle is in the parking space and offsets to the left or right relative to the parking space.

6. The vehicle parking control method according to claim 1 or 4, wherein The information about the in-vehicle target object includes the personnel information in the passenger compartment; the personnel information includes the personnel body type and / or the personnel with activity limitation information; The determining the target removal space reserved for the in-vehicle target object to leave the vehicle based on the occupied space includes: Based on the space occupied by the person with the body shape and / or activity limitation information, determine the target moving-out space corresponding to the space occupied by the person with the body shape and / or activity limitation information according to the corresponding relationship between the occupied space size of the person object in the vehicle and the left and right moving-out spaces; Wherein, the left and right moving-out spaces are used to represent that the vehicle is within the parking space and is offset to the left or right relative to the parking space.

7. The vehicle parking control method according to claim 6, wherein, The method of determining the target moving-out space corresponding to the space occupied by the person with the body shape and / or activity limitation information based on the corresponding relationship between the occupied space size of the person object in the vehicle and the left and right moving-out spaces includes: Determine the maximum occupied space in the space occupied by the person with the body shape and activity limitation information; based on the maximum occupied space, determine the target moving-out space corresponding to the maximum occupied space according to the corresponding relationship between the occupied space size of the in-vehicle object and the left and right moving-out spaces; Or, Use the space occupied by the body shape of the person to determine the target moving-out space corresponding to the space occupied by the body shape of the person according to the corresponding relationship between the occupied space size of the in-vehicle object and the left and right moving-out spaces; Or, Use the space occupied by the person with activity limitation information to determine the target moving-out space corresponding to the space occupied by the person with activity limitation information according to the corresponding relationship between the occupied space size of the in-vehicle object and the left and right moving-out spaces.

8. The vehicle parking control method according to claim 1 or 4, characterized in that, The information of the target object in the vehicle includes the personnel information in the passenger compartment; the personnel information includes the person with the body shape and / or activity limitation information; the method further includes: if it is determined that the space occupied by the body shape is greater than the preset space and / or the person with activity limitation information, do not release the narrow parking space or give an early reminder; And / or, The in-vehicle object includes the items in the trunk; the method of determining the target moving-out space reserved for the in-vehicle target object to leave the vehicle based on the occupied space includes: based on the occupied space of the items in the trunk, determine the target moving-out space corresponding to the occupied space of the items in the trunk according to the corresponding relationship between the occupied space size of the items in the trunk in the vehicle and the front and back moving-out spaces; wherein, the front and back moving-out spaces are used to represent that the vehicle is within the parking space and is offset forward or backward relative to the parking space.

9. The vehicle parking control method according to claim 1 or 4, characterized in that The information of the target object in the vehicle includes the item information in the trunk; the item information includes the item type; the method further includes: if it is determined according to the intention of the vehicle's current trip that the item type in the trunk has no association with the intention, reject opening the trunk and reject generating a parking offset amount, and park the vehicle on the parking space according to the correct position of the vehicle relative to the parking space; And / or, After parking the vehicle on the parking space according to the parking offset amount generated according to the target moving-out space, the method further includes: if it is detected that there is a moving object beside the vehicle, return the vehicle to the correct position of the parking space; if it is detected that there is a non-moving object on the side of the vehicle opposite to the moving-out space, reject controlling the vehicle to return to the correct position of the parking space.

10. A vehicle parking control device, characterized in that, Includes: An information acquisition module, configured to acquire the intention of the vehicle's current trip and the information of the in-vehicle target object associated with the intention respectively; The information of the in-vehicle target object includes the space occupied by the in-vehicle target object in the case of limited parking space; the intention of the vehicle's current trip is obtained from the positioning scenario where the vehicle's parking position is located and / or the information of the in-vehicle object; A target moving-out space determination module, configured to determine, in the case of limited parking space, a target moving-out space reserved for the in-vehicle target object to leave the vehicle based on the occupied space; A parking control module, configured to perform parking on the parking space according to the parking offset generated by the target moving-out space; the parking offset is used to represent the vehicle's offset to one side relative to the parking space.

11. An electronic device, characterized in that, Comprising one or more processors, configured to implement the vehicle parking control method according to any one of claims 1 to 9.

12. A vehicle, characterized in that, Stored thereon is a program, which when executed by the processor, implements the vehicle parking control method according to any one of claims 1 to 9.

13. A computer-readable storage medium, characterized in that, Stored thereon is a program, which when executed by the processor, implements the vehicle parking control method according to any one of claims 1 to 9.

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