Automatic parking method and device, vehicle and storage medium

Abstract

The embodiment of the invention provides an automatic parking method and device, a vehicle and a storage medium. The method comprises the steps that in the driving process of a vehicle, if it is detected that a parking space capable of being parked exists in front of the vehicle, a virtual view including the parking space capable of being parked is displayed; a long press operation acting on a target parking space in the virtual view is responded, the target parking space is released, a parking function is activated, and the target parking space is one of the parking spaces capable of parking; and controlling the vehicle to be parked in the target parking space through the parking function. In the driving process of the target vehicle, the parking function is activated by responding to the long-pressing operation on the parking stall in the parking scene virtual view, automatic parking can be achieved when the vehicle is close to the parking stall, the situation that the parking function needs to be started after parking in an existing scheme is not needed, and therefore the driving experience of a user is improved.

Description

Technical Field

[0001] This application belongs to the field of vehicles, and particularly relates to an automatic parking method, device, vehicle, and readable storage medium. Background Art

[0002] In related automatic parking methods, generally after the vehicle searches for a parkable parking space, the user needs to park the vehicle near the parkable parking space and the posture meets the requirements before the user can select the parking space to be parked and click the start parking button to activate the parking function. The above process has many and complex requirements, and the driving experience of users needs to be improved. Summary of the Invention

[0003] In view of the above problems, this application provides an automatic parking method, device, vehicle, and storage medium to improve the above problems.

[0004] In a first aspect, an embodiment of this application provides an automatic parking method, which includes: during the driving process of the vehicle, if it is detected that there is a parkable parking space in front of the vehicle, display a virtual view including the parkable parking space; in response to a long press operation on a target parking space in the virtual view, release the target parking space and activate the parking function, where the target parking space is one of the parkable parking spaces; control the vehicle to park into the target parking space through the parking function.

[0005] In a second aspect, an embodiment of this application provides an automatic parking device, which includes: a virtual view display unit, a parking function activation unit, and a parking unit. The virtual view display unit is configured to display a virtual view including the parkable parking space during the driving process of the vehicle if it is detected that there is a parkable parking space in front of the vehicle; the parking function activation unit is configured to release the target parking space and activate the parking function in response to a long press operation on the target parking space in the virtual view, where the target parking space is one of the parkable parking spaces; the parking unit is configured to control the vehicle to park into the target parking space through the parking function.

[0006] In a third aspect, an embodiment of this application provides a vehicle, which includes one or more processors and a memory; one or more programs, where the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the above method.

[0007] In a fourth aspect, an embodiment of this application provides a computer-readable storage medium, in which program code is stored, and when the program code runs, the above method is executed.

[0008] The embodiments of the present application provide an automatic parking method, device, vehicle, and storage medium. In this method, during the driving process of the target vehicle, by responding to a long press operation on a parkable parking space in the virtual view of the parking scenario, the parking function is activated, so that automatic parking can be achieved when the vehicle approaches the parkable parking space, without the need to first stop and then start the parking function as in the existing solutions, thereby improving the user driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0010] Figure 1 The flowchart of an automatic parking method proposed in an embodiment of the present application is shown;

[0011] Figure 2 The schematic diagram of the virtual view of an automatic parking method proposed in an embodiment of the present application is shown;

[0012] Figure 3 The flowchart of an automatic parking method proposed in an embodiment of the present application is shown;

[0013] Figure 4 The application scenario diagram of an automatic parking method proposed in an embodiment of the present application is shown;

[0014] Figure 5 The flowchart of an automatic parking method proposed in an embodiment of the present application is shown;

[0015] Figure 6 The structural block diagram of an automatic parking method proposed in another embodiment of the present application is shown;

[0016] Figure 7 The structural block diagram of the vehicle for executing the automatic parking method in the embodiments of the present application in real time is shown;

[0017] Figure 8 The storage unit for saving or carrying the program code for implementing the automatic parking method according to the embodiments of the present application in real time is shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] 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. Apparently, the described embodiments are only a part rather than all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0019] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order different from those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or server comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0020] In an embodiment of the present application, the inventor proposes an automatic parking method, device, vehicle and storage medium. The method includes: during the driving process of the vehicle, if a parkable parking space is detected in front of the vehicle, a virtual view including the parkable parking space is displayed; in response to a long-press operation on a target parking space in the virtual view, the target parking space is released and the parking function is activated, where the target parking space is one of the parkable parking spaces; the vehicle is controlled to park in the target parking space through the parking function. During the driving process of the target vehicle, by responding to a long-press operation on a parkable parking space in the virtual view of the parking scenario, the parking function is activated, so that automatic parking can be achieved when the vehicle approaches a parkable parking space, without the need to first stop and then start the parking function as in the existing solutions, thereby improving the user driving experience.

[0021] Please refer to Figure 1 , an embodiment of the present application provides an automatic parking method, and the method includes:

[0022] Step S110: During the driving process of the vehicle, if a parkable parking space is detected in front of the vehicle, a virtual view including the parkable parking space is displayed.

[0023] In an embodiment of the present application, the virtual view is a view that displays virtualized vehicles and parking spaces on a display screen, and a parkable parking space is a parking space without a vehicle parked in it. During the driving process of the vehicle, the side front view camera installed on the vehicle is used to check in real time whether there is a vehicle parked in the parking spaces on the lane where the vehicle is located. If it is detected that there is a parking space on the lane without a parked vehicle, it is determined that there is a parkable parking space, and the parking space information corresponding to the parkable parking space collected by the side front view camera is sent to the human-machine interaction subsystem, and the virtual view with the parkable parking space is displayed on the display screen through the human-machine interaction subsystem. Among them, the parking space information includes the shape and size of the parking space, the distance between the parking space and the vehicle, the position of the parking space relative to the vehicle, etc.

[0024] As a way, for the parking intention, a "parking" button can be set. When the user presses the "parking" button, it is determined that the user has a parking intention; or it is determined whether the user has a parking intention according to the obtained voice information issued by the user. For example, if the user issues "find a parking space to prepare for parking", it is determined that the user has a parking intention, and no specific limitation is made here.

[0025] Step S120: Respond to a long-press operation on a target parking space in the virtual view, release the target parking space, and activate the parking function, where the target parking space is one of the parkable parking spaces.

[0026] In an embodiment of the present application, after the parkable parking space is displayed on the virtual view, if the user wants to park in one of the parkable parking spaces, the parking space that the user wants to park in is used as the target parking space. The user performs a long-press operation on the target parking space in the virtual view to complete the selection operation of the target parking space. The vehicle responds to the long-press operation of the user on the target parking space in the virtual view, releases the target parking space, allows the vehicle to park in the target parking space, and activates the parking function.

[0027] As a way, when the user performs a long-press operation, a progress bar will prompt the long-press process on the virtual display interface. When the progress bar reaches the end, it is determined that the long-press operation is completed, that is, the selection of the target vehicle is completed. Generally, the duration of the progress bar during the long-press operation is set to 3 seconds. Of course, the duration of the progress bar can also be set by the user himself, and no specific limitation is made here.

[0028] Exemplarily, in steps S110 - S120, as Figure 2As shown, when there is a virtual view showing parkable parking spaces, a text prompt is displayed in the virtual view. The content of the text prompt is, for example: Please long-press the parking space frame to select the parking space you want to park in. When the user touches the frame corresponding to the parkable parking space in the virtual view, a progress bar is displayed below the virtual view. When the progress bar reaches the end, it is determined that the long-press operation is completed, the target parking space is released, and the parking function is activated. Of course, there are more ways to indicate the completion of the long-press operation than just through the progress bar. After the parkable parking space is selected, it can also be indicated that the target parking space has been released in response to the user's long-press operation and the automatic parking function for the selected parking space as the parking target is activated by means of a flashing border or color change. At the same time, a 360-degree panoramic view of the vehicle is displayed on the display interface to assist the user in parking.

[0029] At the same time, it should be noted that the long-press operation in this embodiment is a relative description, which means that after the user touches the corresponding area, they need to wait for an activation prompt to appear in the corresponding area (such as the progress bar being full, or the border of the parking space flashing, or color change, etc.) to indicate that the parking space is selected and the automatic parking function is activated, and the user can end the touch / press operation. Therefore, the actual time of this long-press may also be set very short.

[0030] Step S130: Control the vehicle to park in the target parking space through the parking function.

[0031] In the embodiment of the present application, after determining the target parking space, the parking path for the vehicle to park in the target parking space is determined through the parking function, and the vehicle is controlled to drive on this parking path until it parks in the target parking space.

[0032] An automatic parking method provided by an embodiment of the present application. First, during the driving process of the vehicle, if it is detected that there is a parkable parking space in front of the vehicle, a virtual view including the parkable parking space is displayed. Then, in response to a long-press operation on the target parking space in the virtual view, the target parking space is released and the parking function is activated, where the target parking space is one of the parkable parking spaces. Then, the vehicle is controlled to park in the target parking space through the parking function. Through the above method, during the driving process of the target vehicle, by responding to the long-press operation on the parkable parking space in the virtual view of the parking scenario,

[0033] the parking function is activated, realizing automatic parking when the vehicle approaches a parkable parking space, without the need to first stop and then start the parking function as in the existing solutions, thereby improving the user driving experience.

[0034] Please refer to Figure 3 , an embodiment of the present application provides an automatic parking method, the method includes:

[0035] Step S210: During the driving of the vehicle, obtain the first parking space information on both sides of the target lane through a side front view camera, and obtain the first surrounding environment information of the vehicle through a lidar, where the target lane is the lane where the vehicle is located.

[0036] In the embodiment of the present application, during the driving of the vehicle, according to the detection range of the side front view camera, obtain the first parking space information corresponding to the parking spaces within the detection range, and according to the detection range of the lidar, obtain the first surrounding environment information corresponding to the vehicle. The first parking space information is the parking space information of the parking spaces within the detection range of the side front view camera; the first surrounding environment information is the environmental information within the detection range of the lidar, including obstacles on the target lane, the width of the target lane, and the distance between two adjacent parked vehicles on either side of the target lane, etc. Among them, limited by the performance of the current algorithm, the detection range of the side front view camera is about 10 meters, and the detection range of the lidar is about 20 meters.

[0037] Step S210 can be as Figure 4 shown. When the vehicle is driving on the lane, the detection ranges of the side front view camera are A1 and A2, and the detection range of the lidar is B1. Obtain the surrounding environment information corresponding to A1 and A2 through the side front view camera, and determine the first parking space information from the surrounding environment information corresponding to A1 and the surrounding environment information corresponding to A2 respectively; obtain the first surrounding environment information corresponding to B1 through the lidar.

[0038] Step S220: If it is determined that there is a parkable parking space in front of the vehicle based on the first parking space information and the first surrounding environment information, display a virtual view including the parkable parking space.

[0039] In the embodiments of the present application, the types of parking spaces include line parking spaces and space parking spaces. The parking spaces corresponding to the line parking spaces are parkable line parking spaces, and the parking spaces corresponding to the space parking spaces are parkable space parking spaces. For the line parking spaces and the parkable line parking spaces, if parking lines are detected on both sides of the target lane through the side front view camera, it is considered that the type of the parking space on the target lane is a line parking space. After the side front view camera obtains the first parking space information, the first parking space information is analyzed to determine whether there are vehicles parked in the line parking spaces on both sides of the target lane. If there are no vehicles parked in the line parking space, it is considered a parkable line parking space, and the parkable line parking space is displayed in the virtual view. For the space parking spaces and the parkable space parking spaces, if no parking lines are detected on both sides of the target lane through the side front view camera, it is considered that the type of the parking space on the target lane is a space parking space. The distance between two adjacent parked vehicles on either side of the target lane is determined through the first surrounding environment information, and it is determined whether this distance is greater than the length of the vehicle driven by the user. If it is determined that this distance is greater than the length of the vehicle, the space corresponding to this distance is determined as a parkable space parking space, and the parkable space parking space is displayed in the virtual view.

[0040] As a method, for the determination of the parkable space parking space, it can also be determined in combination with the surrounding environment information collected by the side front view camera. However, since the accuracy of determining the distance between two adjacent vehicles through the side front view camera is not as high as that through the lidar, the surrounding environment information collected by the side front view camera plays an auxiliary role in the determination of the parkable space parking space for the first surrounding environment information collected by the lidar.

[0041] Step S230: Respond to the long press operation on the target parking space in the virtual view, release the target parking space, and send a longitudinal control handshake request to the drive braking system and a lateral control handshake request to the power steering motor through the control subsystem.

[0042] In the embodiments of the present application, when the user performs a long press operation on the target parking space in the virtual view, in response to the long press operation on the target parking space in the virtual view, the target parking space is released, and it is determined that the vehicle finally needs to park in this target parking space. At the same time, the control subsystem determines whether the current vehicle can support the activation of the parking function according to the ADAS (Advanced Driving Assistance System) available flag bit sent by the drive braking system, and then sends a longitudinal control handshake request to the drive braking system and a lateral control handshake request to the power steering motor through the control subsystem. Among them, the control subsystem is used to control the vehicle driving, and the drive braking system includes a drive motor and an electronic braking system.

[0043] Step S240: Receive, by the control subsystem, a first status bit sent by the drive braking system and a second status bit sent by the power steering motor, where the first status bit is a status bit activated after the drive braking system responds to the longitudinal control handshake request, and the second status bit is a status bit activated after the power steering motor responds to the lateral control handshake request.

[0044] In an embodiment of the present application, when the drive braking system receives the longitudinal control handshake request sent by the control subsystem, in response to the longitudinal control handshake request, it activates the first status bit and sends the first status bit to the control subsystem. When the control subsystem receives the first status bit, it can determine that the drive braking system has received and responded to the longitudinal control handshake request; when the power steering motor receives the lateral control handshake request sent by the control subsystem, in response to the lateral control handshake request, it activates the second status bit and sends the second status bit to the control subsystem. When the control subsystem receives the second status bit, it can determine that the power steering motor has received and responded to the lateral control handshake request.

[0045] Step S250: If it is determined that the control subsystem has received the first status bit and the second status bit, determine that a handshake relationship is established between the auxiliary driving main node and the associated actuator node, and activate the parking function, where the auxiliary driving main node includes the control subsystem, and the associated actuator node includes the drive braking system and the power steering motor.

[0046] In an embodiment of the present application, when it is determined that the control subsystem has received the first status bit and the second status bit, it can be determined that a handshake relationship is established between the auxiliary driving node and the associated actuator node at this time, and the parking function is activated.

[0047] As a way, when it is determined that a handshake relationship is established between the auxiliary driving node and the associated actuator node, after the parking function is activated, the vehicle can output a target torque to the drive motor, a target deceleration and a target gear to the electronic braking system through the longitudinal control module in the control subsystem, so as to control the vehicle in terms of speed and driving direction, and stabilize the vehicle speed within a target speed range that is stable and controllable during parking. The target speed is limited within 25 km / h according to actual requirements; and, when it is determined that a handshake relationship is established between the auxiliary driving node and the associated actuator node, after the parking function is activated, the vehicle can output a target steering wheel angle to the power steering motor through the lateral control module in the control subsystem to control the vehicle steering wheel angle and the vehicle driving course angle.

[0048] Step S260: If it is determined that the distance between the target parking space and the vehicle is less than a preset distance, obtain the second parking space information corresponding to the target parking space collected by the surround-view camera and the second surrounding environment information of the vehicle collected by the ultrasonic radar.

[0049] In the embodiment of the present application, the distance between the vehicle and the target parking space is monitored in real time by the lidar. When it is determined that the distance between the center point of the rear axle of the vehicle and the far corner point of the target parking space is less than the preset distance, obtain the surrounding environment information collected by the surround-view camera, and determine the second parking space information corresponding to the target parking space from this environment information. At the same time, obtain the second surrounding information corresponding to the vehicle collected by the ultrasonic radar. Among them, the second surrounding information is the surrounding information within the detection range of the ultrasonic radar, including obstacles on the target lane, the width of the target lane, and the distance between two adjacent parked vehicles on either side of the target lane, etc. Among them, since the ultrasonic radar can obtain information about obstacles 3.5 - 5 meters away from the left and right sides of the vehicle body, and the detection range of the surround-view camera is also approximately 5 meters, therefore, the preset distance in this solution is set to 5 meters. The side forward-looking camera, lidar, surround-view camera, and ultrasonic radar in this solution all start working when the vehicle is powered on. Only when it is determined that the distance between the vehicle and the target parking space is less than the preset distance, the information collected by the surround-view camera and the ultrasonic radar is obtained.

[0050] Of course, the distance between the vehicle and the target parking space can also be sensed by the side forward-looking camera, but the distance sensed by the side forward-looking camera is not as accurate as that of the lidar. Or the distance between the vehicle and the target parking space sensed by the side forward-looking camera can be combined with the distance between the vehicle and the target parking space detected by the lidar to comprehensively consider and determine the distance relationship between the vehicle and the target parking space.

[0051] Step S270: Based on the second parking space information and the second surrounding environment information, control the vehicle to park into the target parking space through the parking function.

[0052] In the embodiment of the present application, after determining the second parking space information and the second surrounding environment information, according to the obstacle information included in the second surrounding environment information and the position information of the target parking space included in the second parking space information, plan a route to park into the target parking space, and control the vehicle to drive on this route to park into the target parking space through the parking function.

[0053] Among them, the above process can also be completed by using a side front view camera and a lidar. However, since the detection accuracy of the side front view camera and the lidar in detecting close-range objects is lower than that of the surround view camera and the ultrasonic radar in detecting close-range objects, this solution does not adopt the solution of only using the side front view camera and the lidar to complete the above process. Similarly, the above process can also be completed by using a surround view camera and an ultrasonic radar. However, since the detection distance of the surround view camera and the ultrasonic radar is short, when a parkable parking space is detected by the surround view camera and the ultrasonic radar, and then the user selects a target parking space from the parkable parking spaces and completes the above operation, the vehicle is already very close to the target parking space. Considering the vehicle speed during the vehicle driving process, it is relatively difficult for the vehicle to complete parking without stopping. When the user decelerates until braking to a stop, at this time, the vehicle may have exceeded the target parking space by a certain distance, and the detection distance of the surround view camera and the ultrasonic radar is relatively short, and there may be a situation where the target parking space cannot be detected. In this case, the user needs to reverse the vehicle until the target parking space is within the detection range of the surround view camera and the ultrasonic radar. This method requires more complicated steps and has low usage efficiency. Therefore, this solution does not adopt this method.

[0054] An automatic parking method provided by an embodiment of the present application, through the above method, during the driving process of the target vehicle, by responding to a long-press operation on a parkable parking space in the virtual view of the parking scenario, the parking function is activated, so that automatic parking can be realized when the vehicle approaches the parkable parking space, without the need to first stop and then start the parking function as in the existing solutions, thereby improving the user driving experience.

[0055] Please refer to Figure 5 , an embodiment of the present application provides an automatic parking method, the method includes:

[0056] Step S301: During the driving process of the vehicle, obtain first parking space information on both sides of the target lane through a side front view camera, and obtain first surrounding environment information of the vehicle through a lidar.

[0057] The specific implementation of step S301 can refer to the detailed explanation in the above embodiment, so it will not be elaborated in this embodiment.

[0058] Step S302: If it is determined based on the first parking space information and the first surrounding environment information that there is a parkable parking space in front of the vehicle, generate a virtual view including the parkable parking space based on the first parking space information.

[0059] In the embodiments of the present application, the parkable parking spaces include line parking spaces and space parking spaces. If the parking space on the target lane is a line parking space, according to the collected first parking space information, it is determined whether there is a vehicle parked on the line parking space within the detection range of the side front view camera. If there is a vehicle parked, it is considered that the parking space in front of the vehicle is an unparkable line parking space; if there is no vehicle parked, it is considered that the line parking space within the detection range is a parkable line parking space. If the parking space on the target lane is a space parking space, according to the collected first parking space information and the first surrounding environment information, it is calculated whether the distance between two adjacent vehicles on either side of the target lane is greater than the length of the vehicle. If it is less than or equal, it is considered that the space parking space in front of the vehicle is an unparkable space parking space; if it is greater, it is considered that the space parking space in front of the vehicle is a parkable space parking space. After determining that there is a parkable parking space in front of the vehicle, according to the first parking space information, the shape and size of the parkable parking space and the position of the parkable parking space relative to the vehicle are determined, and a virtual view including the parkable parking space is generated.

[0060] Among them, it is also possible to determine the unparkable parking spaces in front of the vehicle through the first parking space information and display the unparkable parking spaces in the virtual view. On the unparkable parking spaces, a vehicle is rendered to indicate that the parking space is unparkable.

[0061] Among them, after the virtual view is generated, even if an unexpected situation occurs and the parkable parking space becomes an unparkable parking space, for example, a child is playing on the parkable parking space, the virtual view will not be closed.

[0062] As a way, when generating the virtual view of the parkable parking space, according to the first parking space information and the first surrounding environment information, a driving top view is generated at the same time. In this driving top view, with the vehicle as the center, the images of obstacles and surrounding vehicles are rendered in the driving top view according to the first surrounding environment information, and are displayed on the display interface in the form of a top view.

[0063] Step S303: Display the virtual view.

[0064] In the embodiments of the present application, the virtual view is displayed on the display interface, and at the same time, the above-mentioned driving top view is displayed.

[0065] Step S304: Respond to the long-press operation on the target parking space in the virtual view, release the target parking space, and send a longitudinal control handshake request to the drive braking system and a lateral control handshake request to the power steering motor through the control subsystem.

[0066] Step S305: Receive the first status bit sent by the drive braking system and the second status bit sent by the steering assist motor through the control subsystem, where the first status bit is the status bit activated after the drive braking system responds to the longitudinal control handshake request, and the second status bit is the status bit activated after the steering assist motor responds to the lateral control handshake request.

[0067] Step S306: If it is determined that the control subsystem has received the first status bit and the second status bit, determine the establishment of a handshake relationship between the auxiliary driving main node and the associated execution component nodes, and activate the parking function, where the auxiliary driving main node includes the control subsystem, and the associated execution component nodes include the drive braking system and the steering assist motor.

[0068] Step S307: If it is determined that the distance between the target parking space and the vehicle is less than a preset distance, obtain the second parking space information corresponding to the target parking space collected by the panoramic camera and the second surrounding environment information of the vehicle collected by the ultrasonic radar.

[0069] The details of Steps S304 - S307 can specifically refer to the detailed explanations in the above embodiments, so they will not be elaborated in this embodiment.

[0070] Step S308: Based on the second parking space information and the second surrounding environment information, update the relative position coordinates of the target parking space and the surrounding obstacle information of the target parking space, where the relative position coordinates of the target parking space are the coordinates of the target parking space relative to the vehicle.

[0071] In the embodiment of the present application, according to the position information between the target parking space and the vehicle included in the second parking space information, determine the position of the new target parking space relative to the vehicle, and use the position of the target parking space relative to the vehicle as the relative position coordinates of the target vehicle, so as to complete the update of the relative position coordinates of the target parking space; use the obstacle information included in the second surrounding environment information as the surrounding obstacle information of the target parking space to complete the update of the surrounding obstacle information of the target parking space.

[0072] As a way, when obtaining the second parking space information collected by the surround view camera and the second surrounding environment information collected by the ultrasonic radar in real time, obtain the distance between the surround view camera and the target parking space, and the distance between the ultrasonic radar and the target parking space. According to the distance between the surround view camera and the target parking space, determine the confidence level of the second parking space information. According to the distance between the ultrasonic radar and the target parking space, determine the confidence level of the second surrounding environment information. When both the confidence level of the second parking space information and the confidence level of the second surrounding environment information are greater than the confidence level threshold, determine that the second parking space information and the second surrounding environment information at this time are credible, and update the relative position coordinates of the target parking space and the surrounding obstacle information of the target parking space according to the second parking space information with a confidence level greater than the confidence level threshold and the second surrounding environment information with a confidence level greater than the confidence level threshold.

[0073] Step S309: Based on the updated surrounding obstacle information of the target parking space and the updated relative position coordinates of the target parking space, determine the drivable area corresponding to the vehicle.

[0074] In the embodiment of the present application, according to the updated surrounding obstacle information of the target parking space and the updated relative position coordinates of the target parking space, determine the area without obstacles between the vehicle and the target parking space, and use the area without obstacles between the vehicle and the target parking space as the drivable area corresponding to the vehicle.

[0075] As a way, since there may be pedestrians passing by during the vehicle driving process, the drivable area of the vehicle is not fixed. The vehicle obtains the second parking space information collected by the surround view camera and the second surrounding environment information collected by the ultrasonic radar in real time, and updates the relative position coordinates of the target parking space and the surrounding obstacle information of the target parking space according to the second parking space information and the second surrounding environment information in real time, so as to realize the real-time update of the drivable area of the vehicle. Of course, in order to reduce the calculation pressure, the vehicle can also obtain the second parking space information collected by the surround view camera and the second surrounding environment information collected by the ultrasonic radar at intervals of a preset time period.

[0076] Step S310: Based on the drivable area, control the vehicle to park into the target parking space through the parking function.

[0077] In the embodiment of the present application, after determining the drivable area, through the parking function, use the control subsystem to control the vehicle to drive within the drivable area until it parks into the target parking space.

[0078] Among them, the specific process of step S310 is as shown in step S3101 and step S3102.

[0079] Step S3101: Process the updated surrounding obstacle information to determine a parking route in the drivable area.

[0080] In the embodiment of the present application, the planning subsystem processes the updated surrounding obstacle information, and plans a parking route from the drivable area according to the distribution of obstacles around the vehicle. Among them, the planning subsystem is a system that plans a parking route in the drivable area.

[0081] As a way, the planning subsystem can also plan multiple reference parking routes from the drivable area according to the distribution of obstacles around the vehicle, and select an optimal reference parking route from the multiple reference parking routes in combination with comfort, safety, and time consumption, and use the optimal reference parking route as the parking route of this solution. When an unexpected situation occurs on this parking route, such as a child playing on this parking route, this parking route can be discarded, and an optimal reference parking route can be selected from the remaining multiple reference parking routes.

[0082] Step S3102: Based on the parking route, control the vehicle to park in the target parking space through the parking function.

[0083] In the embodiment of the present application, after the parking route is determined, the control subsystem controls the speed and driving direction of the vehicle through the longitudinal control module, and controls the driving heading angle of the vehicle through the lateral control module to ensure that the vehicle travels on the parking route until it parks in the target parking space.

[0084] As a way, when an unexpected situation occurs when the vehicle is traveling on the parking route, the control subsystem controls the vehicle to brake to a stop, re-plans a parking route according to the current surrounding obstacle information, and then controls the vehicle to travel on the new parking route until it parks in the target parking space.

[0085] An automatic parking method provided by an embodiment of the present application. Through the above method, during the driving process of the target vehicle, by responding to a long press operation on a parkable parking space in the virtual view of the parking scenario, the parking function is activated, so that the vehicle can automatically park when it approaches the parkable parking space, without the need to first stop and then activate the parking function as in the existing solution, thereby improving the user driving experience.

[0086] Please refer to Figure 6 , an embodiment of the present application provides an automatic parking device 400, and the device 400 includes:

[0087] A virtual view display unit 410, configured to display a virtual view including the parkable parking space during the driving process of the vehicle if it detects that there is a parkable parking space in front of the vehicle.

[0088] As a way, the virtual view display unit 410 is also used to obtain the first parking space information on both sides of the target lane through the side front view camera during the driving of the vehicle, and obtain the first surrounding environment information of the vehicle through the lidar; if it is determined that there is a parkable parking space in front of the vehicle based on the first parking space information and the first surrounding environment information, display a virtual view including the parkable parking space.

[0089] Optionally, the virtual view display unit 410 is also used to generate a virtual view including the parkable parking space based on the first parking space information if it is determined that there is a parkable parking space in front of the vehicle based on the first parking space information and the first surrounding environment information; display the virtual view.

[0090] The parking function activation unit 420 is used to respond to a long press operation on the target parking space in the virtual view, release the target parking space, and activate the parking function, where the target parking space is one of the parkable parking spaces.

[0091] As a way, the parking function activation unit 420 is also used to respond to a long press operation on the target parking space in the virtual view, release the target parking space, and send a longitudinal control handshake request to the drive braking system through the control subsystem, and send a lateral control handshake request to the power steering motor; receive the first status bit sent by the drive braking system and the second status bit sent by the power steering motor through the control subsystem, where the first status bit is the status bit activated by the drive braking system in response to the longitudinal control handshake request, and the second status bit is the status bit activated by the power steering motor in response to the lateral control handshake request; if it is determined that the control subsystem receives the first status bit and the second status bit, determine that a handshake relationship is established between the assisted driving main node and the associated execution node, and activate the parking function, where the assisted driving main node includes the control subsystem, and the associated execution node includes the drive braking system and the power steering motor.

[0092] The parking unit 430 is used to control the vehicle to park into the target parking space through the parking function.

[0093] As a way, the parking unit 430 is also used to obtain the second parking space information corresponding to the target parking space collected by the panoramic camera and the second surrounding environment information of the vehicle collected by the ultrasonic radar if it is determined that the distance between the target parking space and the vehicle is less than a preset distance; based on the second parking space information and the second surrounding environment information, control the vehicle to park into the target parking space through the parking function.

[0094] Optionally, the parking unit 430 is further configured to update the relative position coordinates of the target parking space and the surrounding obstacle information of the target parking space based on the second parking space information and the second surrounding environment information, where the relative position coordinates of the target parking space are the coordinates of the target parking space relative to the vehicle; determine the drivable area corresponding to the vehicle based on the updated surrounding obstacle information of the target parking space and the updated relative position coordinates of the target parking space; and control the vehicle to park into the target parking space through the parking function based on the drivable area.

[0095] Optionally, the parking unit 430 is further configured to process the updated surrounding obstacle information to determine a parking route in the drivable area; and control the vehicle to park into the target parking space through the parking function based on the parking route.

[0096] It should be noted that the device embodiments in this application correspond to the foregoing method embodiments. The specific principles in the device embodiments can be referred to the content in the foregoing method embodiments, and will not be elaborated herein.

[0097] Next, a vehicle provided by this application will be described in conjunction with Figure 7 a description will be given of a vehicle provided by this application.

[0098] Please refer to Figure 7 , based on the above automatic parking method and device, an embodiment of this application further provides another vehicle 500 that can execute the foregoing automatic parking method. The vehicle 500 includes one or more (only one is shown in the figure) processors 502, a memory 504, and a network module 506 that are coupled to each other. Among them, the memory 504 stores a program that can execute the content in the foregoing embodiments, and the processor 502 can execute the program stored in the memory 504.

[0099] Among them, the processor 502 may include one or more processing cores. The processor 502 connects various parts within the entire vehicle 500 through various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 504, and by invoking data stored in the memory 504, it performs various functions of the server 500 and processes data. Optionally, the processor 502 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 502 may integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the displayed content; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor 502 and may be implemented separately through a communication chip.

[0100] The memory 504 may include random access memory (RAM) and may also include read-only memory. The memory 504 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 504 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing the operating system, instructions for implementing at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the following various method embodiments, etc. The data storage area may also store data created during the use of the vehicle 500 (such as phone book, audio and video data, chat record data), etc.

[0101] The network module 506 is used to receive and transmit electromagnetic waves, realize the mutual conversion between electromagnetic waves and electrical signals, so as to communicate with a communication network or other devices, such as communicating with an audio playback device. The network module 506 may include various existing circuit elements for performing these functions, such as antennas, radio frequency transceivers, digital signal processors, encryption / decryption chips, subscriber identity module (SIM) cards, memories, and so on. The network module 506 can communicate with various networks such as the Internet, enterprise intranets, wireless networks or communicate with other devices through a wireless network. The above-mentioned wireless network may include a cellular phone network, a wireless local area network or a metropolitan area network. For example, the network module 506 can interact with a base station.

[0102] Please refer to Figure 8 , which shows a structural block diagram of a computer-readable storage medium provided by an embodiment of the present application. Program code is stored in the computer-readable storage medium 600, and the program code can be called by a processor to execute the method described in the above method embodiment.

[0103] The computer-readable storage medium 600 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk or a ROM. Optionally, the computer-readable storage medium 600 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 600 has a storage space for the program code 610 for executing any method step in the above method. These program codes can be read from or written into one or more computer program products. The program code 610 may be compressed in an appropriate form, for example.

[0104] An embodiment of the present application provides an automatic parking method, device, vehicle and storage medium. The method includes: during the driving process of the vehicle, if a parkable parking space is detected in front of the vehicle, display a virtual view including the parkable parking space; in response to a long press operation on a target parking space in the virtual view, release the target parking space and activate the parking function, where the target parking space is one of the parkable parking spaces; control the vehicle to park in the target parking space through the parking function. During the driving process of the target vehicle, by responding to a long press operation on a parkable parking space in the virtual view of the parking scenario, the parking function is activated, so that the vehicle can automatically park when it approaches a parkable parking space, without the need to first stop and then start the parking function as in the existing solutions, thereby improving the user driving experience.

[0105] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative rather than restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the purpose of the present invention and the scope protected by the claims, and all of them fall within the protection scope of the present invention.

Claims

1. An automatic parking method, characterized in that, The method includes: During the driving of the vehicle, if a parkable parking space is detected in front of the vehicle, a virtual view including the parkable parking space is displayed; In response to a long - press operation on a target parking space in the virtual view, the target parking space is released and the parking function is activated, where the target parking space is one of the parkable parking spaces; The vehicle is controlled to park in the target parking space through the parking function.

2. The method according to claim 1, characterized in that, The step of "During the driving of the vehicle, if a parkable parking space is detected in front of the vehicle, a virtual view including the parkable parking space is displayed" includes: During the driving of the vehicle, first parking space information on both sides of the target lane is obtained through a side - front view camera, and first surrounding environment information of the vehicle is obtained through a lidar, where the target lane is the lane where the vehicle is located; If it is determined based on the first parking space information and the first surrounding environment information that a parkable parking space exists in front of the vehicle, a virtual view including the parkable parking space is displayed.

3. The method according to claim 2, wherein The step of "If it is determined based on the first parking space information and the first surrounding environment information that a parkable parking space exists in front of the vehicle, a virtual view including the parkable parking space is displayed" includes: If it is determined based on the first parking space information and the first surrounding environment information that a parkable parking space exists in front of the vehicle, a virtual view including the parkable parking space is generated based on the first parking space information; The virtual view is displayed.

4. The method according to claim 1, wherein The step of "In response to a long - press operation on a target parking space in the virtual view, the target parking space is released and the parking function is activated" includes: In response to a long - press operation on a target parking space in the virtual view, the target parking space is released, and a longitudinal control handshake request is sent to the drive - brake system through the control subsystem, and a lateral control handshake request is sent to the power - steering motor; The first status bit sent by the drive - brake system and the second status bit sent by the power - steering motor are received through the control subsystem, where the first status bit is the status bit activated by the drive - brake system in response to the longitudinal control handshake request, and the second status bit is the status bit activated by the power - steering motor in response to the lateral control handshake request; If it is determined that the control subsystem has received the first status bit and the second status bit, it is determined that a handshake relationship is established between the auxiliary driving main node and the associated execution - part node, and the parking function is activated, where the auxiliary driving main node includes the control subsystem, and the associated execution - part node includes the drive - brake system and the power - steering motor.

5. The method according to claim 1, characterized in that, The step of "The vehicle is controlled to park in the target parking space through the parking function" includes: If it is determined that the distance between the target parking space and the vehicle is less than a preset distance, second parking space information corresponding to the target parking space collected by a surround - view camera and second surrounding environment information of the vehicle collected by an ultrasonic radar are obtained; Based on the second parking space information and the second surrounding environment information, the vehicle is controlled to park in the target parking space through the parking function.

6. The method according to claim 5, wherein Based on the second parking space information and the second surrounding environment information, controlling the vehicle to park in the target parking space through the parking function includes: Based on the second parking space information and the second surrounding environment information, updating the relative position coordinates of the target parking space and the surrounding obstacle information of the target parking space, where the relative position coordinates of the target parking space are the coordinates of the target parking space relative to the vehicle; Based on the updated surrounding obstacle information of the target parking space and the updated relative position coordinates of the target parking space, determining the drivable area corresponding to the vehicle; Based on the drivable area, controlling the vehicle to park in the target parking space through the parking function.

7. The method according to claim 6, wherein The controlling the vehicle to park in the target parking space through the parking function based on the drivable area includes: Processing the updated surrounding obstacle information to determine a parking route in the drivable area; Based on the parking route, controlling the vehicle to park in the target parking space through the parking function.

8. An automatic parking method, characterized in that, The device includes: A virtual view display unit, configured to display a virtual view including the parkable parking space during the driving of the vehicle if a parkable parking space is detected in front of the vehicle; A parking function activation unit, configured to respond to a long press operation on the target parking space in the virtual view, release the target parking space, and activate the parking function, where the target parking space is one of the parkable parking spaces; A parking unit, configured to control the vehicle to park in the target parking space through the parking function.

9. A vehicle, characterized in that, Comprising one or more processors and a memory, one or more programs are stored in the memory and configured to be executed by one or more processors to perform the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores program code, and the program code includes instructions for executing the method according to any one of claims 1-7.

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