Method and device for controlling vehicle parking, vehicle and storage medium

Abstract

The invention provides a method and device for controlling vehicle parking, a vehicle and a storage medium, the method is applied to the technical field of parking control, and the method comprises the steps that the parking grade of a current parking space is determined according to the width of the current parking space and the width of a vehicle body of the vehicle; under the condition that the parking grade shows that the current parking space can be parked and an obstacle exists on at least one side of the current parking space, according to the position of the obstacle and the vehicle door opening strokes and the riding positions corresponding to M passengers in the vehicle, or according to the parking grade, the position of the obstacle and the vehicle door opening strokes and the riding positions corresponding to the M passengers, the M passengers can be parked in the vehicle; determining a safe distance between the vehicle and the obstacle; and according to the safety distance, the vehicle is controlled to be automatically parked. According to the method, when the vehicle is automatically parked, if an obstacle exists on the side face of the current parking space, the safe distance between the vehicle and the obstacle is determined individually according to the vehicle door opening requirement of a user and the obstacle position, and it is guaranteed that the user has enough space when getting off the vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of parking control, and more specifically, to a method, device, vehicle, and storage medium for controlling vehicle parking in the technical field of parking control. Background Art

[0002] Currently, in the field of vehicle parking, with the continuous development of intelligent technologies, the automatic parking technology is widely applied to vehicles due to its high parking efficiency and the feature of no need for user manual intervention.

[0003] In related technologies, during the parking process of a vehicle based on the automatic parking technology, the vehicle usually parks in the center, that is, after the vehicle finishes parking, it will roughly stop in the middle of the parking space.

[0004] The above automatic parking method is fixed and cannot intelligently adjust the distance between the vehicle and the adjacent obstacles, resulting in limited space when the user gets out of the vehicle, thereby reducing the user's parking experience. Summary of the Invention

[0005] The present application provides a method, device, vehicle, and storage medium for controlling vehicle parking. When the vehicle automatically parks, if there are obstacles on the side of the current parking space, the method can determine the safe distance between the vehicle and the obstacles according to the user's door opening requirements and the positions of the obstacles, ensuring sufficient space when the user gets out of the vehicle.

[0006] In a first aspect, a method for controlling vehicle parking is provided. The method includes: determining a parking level of the current parking space according to the width of the current parking space and the body width of the vehicle, where the parking level is used to represent the difficulty of the vehicle parking in the current parking space; when the parking level indicates that the current parking space can be parked in and there are obstacles on at least one side of the current parking space, determining the safe distance between the vehicle and the obstacles according to the position of the obstacles, the door opening strokes and seating positions of M occupants in the vehicle; or determining the safe distance between the vehicle and the obstacles according to the parking level, the position of the obstacles, the door opening strokes and seating positions of the M occupants; and controlling the vehicle to perform automatic parking according to the safe distance.

[0007] In the above technical solution, during the parking process of the present application, a method for controlling vehicle parking is provided. In the implementation process of this method, the vehicle can determine the parking level of the current parking space according to the width of the current parking space and the body width of the vehicle, so as to identify the parking space of the current parking space. When the current parking space is sufficient for the vehicle to park, if there is an obstacle on one side of the current parking space, the vehicle can dynamically calculate the safety distance between the vehicle and the obstacle by combining the parking level, the position of the obstacle, and the door opening travel of the occupant. In the above process, the vehicle only chooses to park when the current parking space is full, which can ensure the reliability of vehicle parking, avoid the problem that the vehicle cannot park due to too small a parking space, and reduce the parking complaints of users. Further, during automatic parking, the vehicle can determine multiple different obstacle positions, multiple occupant seating positions and getting-off spaces, as well as multiple safety distances under multiple parking spaces, so that the method of the present application can be flexibly applied to a variety of different parking scenarios, solving the rigid problem brought by the inability of the fixed parking method to well adapt to each parking scenario. The above process of personalized determination of the safety distance between the vehicle and the obstacle enables users to have sufficient getting-off space in different parking environments.

[0008] In combination with the first aspect, in some possible implementation manners, determining the parking level of the current parking space according to the width of the current parking space and the body width of the vehicle includes: determining a first width according to the body width, a first preset travel on the driver's side, and a second preset travel on the passenger's side; determining a second width according to the body width and the first preset travel, the second width being less than the first width; and determining the parking level according to the width of the current parking space, the first width, and the second width.

[0009] In the above technical solution, when determining the parking level, first determine the first width and the second width according to the body width, the first preset travel, and the second preset travel. By comparing the width of the current parking space with the first width and the second width respectively, the size of the current parking space can be accurately evaluated, so that the vehicle can accurately determine the difficulty of parking based on the size of the current parking space and discover the risk that the parking space is not parkable in advance.

[0010] Combined with the first aspect and the above implementation manners, in some possible implementation manners, determining the parking level according to the width of the current parking space, the first width, and the second width includes: when the width of the current parking space is greater than the first width, determining that the parking level is the first level; when the width of the current parking space is greater than the second width and less than or equal to the first width, determining that the parking level is the second level, and the parking difficulty of the second level is greater than that of the first level; when the width of the current parking space is less than or equal to the second width, determining that the parking level is the third level, and the parking difficulty of the third level is greater than that of the second level. Moreover, the method further includes: when the parking level is the first level or the second level, the parking level indicates that the current parking space can be parked into; when the parking level is the third level, the parking level indicates that the current parking space cannot be parked into.

[0011] In the above technical solution, when specifically determining the parking level of the current parking space, the vehicle compares the width of the current parking space with the first width and the second width respectively to determine the space margin of the current parking space and obtain the parking level, thereby obtaining the difficulty level of the vehicle to park into, avoiding the decline of the user's parking experience caused by the vehicle parking into a very small parking space without prior judgment, and reducing the risk of the vehicle scratching when parking in an extremely narrow parking space.

[0012] Combined with the first aspect and the above implementation manners, in some possible implementation manners, determining the safety distance between the vehicle and the obstacle according to the position of the obstacle, the door opening strokes and the seating positions of M occupants in the vehicle includes: when the position of the obstacle is on one side, if the position of the obstacle is the driver's side, determining N occupants on the driver's side from the M occupants according to the seating positions of the M occupants, where N is less than or equal to M; determining the safety distance as the maximum value of the door opening strokes of the N occupants; when the position of the obstacle is on one side, if the position of the obstacle is the passenger's side, determining L occupants on the passenger's side from the M occupants according to the seating positions of the M occupants, where L is less than or equal to M; determining the safety distance as the maximum value of the door opening strokes of the L occupants.

[0013] In the above technical solution, the above steps correspond to the situation where there is an obstacle on only one side of the current parking space. Whether the parking level is the first level or the second level, the getting-off requirements of the occupants on one side can be met. Therefore, when there is an obstacle on one side of the current parking space, the vehicle only needs to meet the getting-off requirements of the occupants on the side of the obstacle. Specifically, it is divided into two cases. The first case is when the position of the obstacle is on the driver's side. The vehicle can determine N occupants on the driver's side from the M occupants according to the seating positions of the M occupants. In order to meet the getting-off requirements of the N occupants simultaneously, the vehicle can determine the maximum value of the door opening travel of the N occupants as the safety distance between the vehicle and the obstacle. The second case is when the position of the obstacle is on the passenger's side. Similarly, the vehicle can determine L occupants on the passenger's side from the M occupants according to the seating positions of the M occupants, and determine the maximum value of the door opening travel of the L occupants as the safety distance between the vehicle and the obstacle.

[0014] When the obstacle is only located on one side of the current parking space, the vehicle can screen out at least one occupant on the same side as the obstacle and determine the maximum value of the door opening travel of the at least one occupant as the safety distance, which ensures that during the parking process, the vehicle can flexibly adjust the safety distance according to the actual occupant distribution, ensuring that all occupants on the side of the obstacle will not touch the obstacle when getting off. When there are multiple passengers, it can significantly improve the parking experience of the occupants and reduce the risk of the vehicle being scratched or collided.

[0015] Combined with the first aspect and the above implementation, in some possible implementations, the parking level includes the first level or the second level, the obstacle includes an obstacle on the driver's side and an obstacle on the passenger's side, the safety distance between the vehicle and the obstacle includes the safety distance between the vehicle and the obstacle on the driver's side, and the safety distance between the vehicle and the obstacle on the passenger's side. Determining the safety distance between the vehicle and the obstacle according to the parking level, the position of the obstacle, the door opening travel and the seating position corresponding to the M occupants includes: when the position of the obstacle is on both sides, determining P occupants on the driver's side and Q occupants on the passenger's side from the M occupants according to the seating positions of the M occupants, where both P and Q are less than or equal to M; if the parking level is the first level, determining the safety distance between the vehicle and the obstacle on the driver's side as the maximum value of the door opening travel of the P occupants, and determining the safety distance between the vehicle and the obstacle on the passenger's side as the maximum value of the door opening travel of the Q occupants; if the parking level is the second level, determining the safety distance between the vehicle and the obstacle on the driver's side as the maximum value of the door opening travel of the P occupants.

[0016] In the above technical solution, when the obstacle is located on both sides of the current parking space, by differentiating the M occupants according to their seating positions into P occupants on the driver's side and Q occupants on the passenger's side, the calculation of the safety distance is directly related to the side where the door needs to be opened by the actual occupants, so that when calculating the safety distance, refined control by side can be achieved, and the pertinence of the parking strategy can be improved.

[0017] When the parking level is the first level, the parking space is sufficient, and the safety distances on both the driver's side and the passenger's side are calculated simultaneously, which can ensure that the occupants on both sides can get off safely. When the parking level is the second level, due to the limited parking space, the disembarkation requirements of the occupants on the driver's side are given priority, which can ensure that the driver can get off smoothly. According to the different parking levels of the parking space, the safety distance between the vehicle and the obstacle can be calculated flexibly, and the calculation method can be optimized on the premise of ensuring core safety, improving the success rate and flexibility of parking.

[0018] Combined with the first aspect and the above implementation manner, in some possible implementation manners, if the parking level is the second level and the safety distance between the vehicle and the obstacle on the driver's side is determined to be the maximum value of the door opening travel of the P occupants, the method further includes: displaying the first prompt information and / or broadcasting the first prompt information, where the first prompt information is used to prompt the Q occupants on the passenger's side to get off in advance before parking; in the case that the Q occupants on the passenger's side are not detected to get off within a preset time period, displaying the second prompt information and / or broadcasting the second prompt information, where the second prompt information is used to prompt the Q occupants on the passenger's side to get off from the driver's side after parking is completed.

[0019] In the above technical solution, when the parking level is the second level, the vehicle preferentially ensures the space requirement for the driver's side occupant to get out of the vehicle safely. On the co-driver's side, the door may not be able to open normally due to insufficient remaining space in the parking space. At this time, the co-driver's side occupant is guided to get out of the vehicle in advance through the first prompt message, so as to avoid being trapped in the vehicle due to insufficient space on the co-driver's side after parking or forcibly opening the door and colliding with obstacles. If the co-driver's side occupant does not get out of the vehicle within the preset time, the system guides the occupant to get out of the vehicle from the driver's side through the second prompt message, ensuring the availability of the occupant's exit passage under any circumstances, avoiding the co-driver being trapped due to the parking strategy, and improving the user's parking experience through multiple rounds of prompts and alternative solutions. Combining the first aspect and the above implementation manners, in some possible implementation manners, the method further includes: obtaining an in-vehicle image; determining whether there are occupants in the vehicle according to the in-vehicle image; in the case that there are occupants in the vehicle, obtaining the door opening travel and the seating position corresponding to the M occupants; in the case that there are no occupants in the vehicle, displaying a third prompt message and / or broadcasting the third prompt message through a smart device, where the third prompt message is used to remind the target driver for the next driving; obtaining the door opening travel of the target driver; in the case that the position of the obstacle is on the driver's side, determining the safety distance as the door opening travel of the target driver.

[0020] In the above technical solution, when obtaining the door opening travel and the seating position corresponding to the M occupants, the vehicle can first determine whether there is anyone in the vehicle, that is, whether the vehicle is currently in the state of automatic parking without occupants. When there are occupants in the vehicle, the vehicle further obtains the door opening travel and the seating position corresponding to the M occupants. When there are no occupants in the vehicle, if there is an obstacle on the driver's side, the vehicle reminds the user to select the target driver for the next driving in advance through a smart device and obtains the door opening travel of the target driver, which can ensure that the driver can get into the vehicle smoothly when using the vehicle next time, avoid the problem of difficult driving for the driver caused by narrow space near the parking space, reduce the probability of the door not being able to open, and enhance the flexibility of vehicle parking.

[0021] In a second aspect, a device for controlling vehicle parking is provided. The device includes: a level determination module, configured to determine the parking level of the current parking space according to the width of the current parking space and the body width of the vehicle, where the parking level is used to represent the difficulty of the vehicle parking into the current parking space; a distance determination module, configured to determine the safety distance between the vehicle and the obstacle according to the position of the obstacle, the door opening travel and the seating position corresponding to the M occupants in the vehicle, in the case that the parking level indicates that the current parking space can be parked and there is at least one obstacle on at least one side of the current parking space, or determine the safety distance between the vehicle and the obstacle according to the parking level, the position of the obstacle, the door opening travel and the seating position corresponding to the M occupants; a parking control module, configured to control the vehicle to perform automatic parking according to the safety distance.

[0022] In combination with the second aspect, in some possible implementation manners, the level determination module is specifically configured to: determine a first width according to the vehicle body width, a first preset travel on the driver's side, and a second preset travel on the passenger's side; determine a second width according to the vehicle body width and the first preset travel, where the second width is less than the first width; and determine the parking level according to the width of the current parking space, the first width, and the second width.

[0023] In combination with the second aspect and the above implementation manners, in some possible implementation manners, the level determination module is further configured to: when the width of the current parking space is greater than the first width, determine that the parking level is the first level; when the width of the current parking space is greater than the second width and less than or equal to the first width, determine that the parking level is the second level, and the parking difficulty of the second level is greater than that of the first level; when the width of the current parking space is less than or equal to the second width, determine that the parking level is the third level, and the parking difficulty of the third level is greater than that of the second level; and, the level determination module is further configured to: when the parking level is the first level or the second level, the parking level indicates that the current parking space can be parked into; when the parking level is the third level, the parking level indicates that the current parking space cannot be parked into.

[0024] In combination with the second aspect and the above implementation manners, in some possible implementation manners, the distance determination module is specifically configured to: when the position of the obstacle is on one side, if the position of the obstacle is on the driver's side, determine N occupants on the driver's side from the M occupants according to the seating positions of the M occupants, where N is less than or equal to M; and determine the safety distance as the maximum value of the door opening travels of the N occupants; when the position of the obstacle is on one side, if the position of the obstacle is on the passenger's side, determine L occupants on the passenger's side from the M occupants according to the seating positions of the M occupants, where L is less than or equal to M; and determine the safety distance as the maximum value of the door opening travels of the L occupants.

[0025] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the parking level includes a first level or a second level, the obstacle includes an obstacle on the driver's side and an obstacle on the co-driver's side, the safety distance between the vehicle and the obstacle includes the safety distance between the vehicle and the obstacle on the driver's side, and the safety distance between the vehicle and the obstacle on the co-driver's side. The distance determination module is further configured to: when the position of the obstacle is on both sides, determine P occupants on the driver's side and Q occupants on the co-driver's side from the M occupants according to the seating positions of the M occupants, where both P and Q are less than or equal to M; if the parking level is the first level, determine the safety distance between the vehicle and the obstacle on the driver's side as the maximum value of the door opening travel of the P occupants, and determine the safety distance between the vehicle and the obstacle on the co-driver's side as the maximum value of the door opening travel of the Q occupants; if the parking level is the second level, determine the safety distance between the vehicle and the obstacle on the driver's side as the maximum value of the door opening travel of the P occupants.

[0026] Combined with the second aspect and the above implementation manners, in some possible implementation manners, after determining that the safety distance between the vehicle and the obstacle on the driver's side is the maximum value of the door opening travel of the P occupants when the parking level is the second level, the distance determination module is further configured to: display a first prompt message and / or broadcast the first prompt message, where the first prompt message is used to prompt the Q occupants on the co-driver's side to get off the vehicle in advance before parking; when it is not detected that the Q occupants on the co-driver's side get off the vehicle within a preset duration, display a second prompt message and / or broadcast the second prompt message, where the second prompt message is used to prompt the Q occupants on the co-driver's side to get off the vehicle from the driver's side after parking is completed.

[0027] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the distance determination module is further configured to: obtain an in-vehicle image; determine whether there are occupants in the vehicle according to the in-vehicle image; when there are occupants in the vehicle, obtain the door opening travel and seating positions corresponding to the M occupants; when there are no occupants in the vehicle, display a third prompt message and / or broadcast the third prompt message through a smart device, where the third prompt message is used to remind the target driver for the next driving; obtain the door opening travel of the target driver; when the position of the obstacle is on the driver's side, determine the safety distance as the door opening travel of the target driver.

[0028] In a third aspect, a vehicle is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any one of the possible implementation manners of the first aspect described above.

[0029] Fourthly, a computer program product is provided, which includes computer program code that, when running on a computer, causes the computer to execute the method in the above first aspect or any possible implementation manner of the first aspect.

[0030] Fifthly, a computer-readable storage medium is provided, which stores computer program code that, when running on a computer, causes the computer to execute the method in the above first aspect or any possible implementation manner of the first aspect. Description of the Drawings

[0031] Figure 1 FIG. is a schematic diagram of an automatic parking scenario provided by an embodiment of the present application;

[0032] Figure 2 FIG. is a schematic flowchart of a method for controlling a vehicle to park provided by an embodiment of the present application;

[0033] Figure 3 FIG. is a schematic flowchart of another method for controlling a vehicle to park provided by an embodiment of the present application;

[0034] Figure 4 FIG. is a schematic structural diagram of a device for controlling a vehicle to park provided by an embodiment of the present application;

[0035] Figure 5 FIG. is a schematic structural diagram of a vehicle provided by an embodiment of the present application. Detailed Embodiments

[0036] Next, the technical solutions in the present application will be clearly and elaborately described with reference to the drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. The "and / or" in the text is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0037] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or indicating relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0038] Before introducing the solutions of the embodiments of the present application, first, a glossary of the technical terms in the embodiments of the present application will be given.

[0039] Automatic parking technology: It is an intelligent driving assistance technology that enables a vehicle to automatically park into a parking space without the driver manually controlling the steering wheel, accelerator, and brake by the collaborative work of in-vehicle sensors (such as ultrasonic radars, cameras, or lidar, etc.), an electronic control unit (ECU), and actuators.

[0040] After introducing the professional terms, the following will introduce Figure 1 the application scenarios of the embodiments of this application.

[0041] Figure 1 It is a schematic diagram of an automatic parking scenario provided by the embodiments of this application.

[0042] Exemplarily, as Figure 1 shown, when the user needs to park the vehicle 101 during driving, the parking space 102 is an empty parking space in the parking lot. Among them, the parking space 104 is a parking space adjacent to the parking space 102, and there is a vehicle 103 parked in the parking space 104.

[0043] When the user needs to park the vehicle 101 into the parking space 102, the parking methods include manual parking and automatic parking.

[0044] In one scenario, when the user parks the vehicle 101 into the parking space 102 by manual parking, the user needs to adjust the steering angle, accelerator pedal opening, brake pedal opening, and gear, etc., and combine visual observation and experience judgment to control the parking position of the vehicle 101 and the distance between the vehicle 101 and surrounding obstacles, so as to park the vehicle 101 into the parking space 102.

[0045] In another scenario, when the user parks the vehicle 101 into the parking space 102 by automatic parking, the embodiments of this application provide the following several ways to turn on the "Automatic Parking" function.

[0046] Exemplarily, in the parking interface of the vehicle 101, the user can click the control corresponding to the "Automatic Parking" function, and in response to the click operation, the vehicle 101 turns on the "Automatic Parking" function.

[0047] In another exemplary case, the user can also trigger the vehicle 101 to turn on the "Automatic Parking" function by voice commands such as "Turn on the automatic parking function" or "Please help me turn on the automatic parking function".

[0048] After the automatic parking function of the vehicle 101 is turned on, in the related art, when the vehicle 101 parks based on the automatic parking technology, it usually adopts the center parking method.

[0049] Centered parking means that when the Automatic Parking System (APS) plans the parking path, based on the geometric center of the target parking space (i.e., parking space 102), it controls the vehicle 101 to park so that the distances between both sides of the vehicle body and the boundaries of the parking space 102 are basically equal after parking, ensuring that the lateral position of the vehicle 101 is centered within the parking space 102.

[0050] Specifically, the general process of the vehicle 101 parking centered is as follows: The APS scans the surrounding environment of the parking space 102 through ultrasonic radars, cameras, or lidar, obtains information such as the boundary lines of the parking space 102 and the positions of obstacles (for example, the position of the vehicle 103 within the parking space 104), and calculates the length, width, and center point coordinates of the parking space 102 based on the above various sensor data.

[0051] Based on the center point coordinates of the parking space 102, the APS combines the dimensions of the vehicle 101 and the type of the parking space 102, and plans an optimal trajectory of "centered parking" through a kinematic model.

[0052] After obtaining the optimal trajectory, the APS can automatically adjust the steering angle according to the optimal trajectory through the Electric Power Steering (EPS), and adjust the vehicle speed in real time during the parking process, slow down slowly when approaching the center of the parking space 102, and continuously monitor the distance between the vehicle 101 and the boundaries of the parking space 102 through sensors, and adjust the position of the vehicle 101 to make the vehicle 101 finally park centered in the parking space 102.

[0053] The problem with the vehicle parking centered based on the automatic parking technology described above is that when the user gets out of the vehicle after parking, users of different body sizes (including drivers and passengers) have different requirements for the getting-out space. For example, when the user has a small body size, a small getting-out space is sufficient to get out smoothly; when the user has a large body size, a large getting-out space is required to get out smoothly. And different getting-out spaces are closely related to the opening angle of the vehicle door. The smaller the getting-out space, the smaller the opening angle of the vehicle door; the larger the getting-out space, the larger the opening angle of the vehicle door.

[0054] When the vehicle parks automatically using the centered parking method, the vehicle cannot intelligently adjust the parking position of the vehicle in combination with the body size of the user inside the vehicle. When there are obstacles on at least one side of both sides of the vehicle, it results in a limited getting-out space for the user, making it inconvenient or impossible to get out of the vehicle, thus reducing the user's automatic parking experience.

[0055] Based on the above problems, the embodiments of the present application provide a method for controlling vehicle parking, which can, when the vehicle parks automatically, if there are obstacles on the side of the current parking space, determine the safe distance between the vehicle and the obstacles according to the user's vehicle door opening requirements and the positions of the obstacles, ensuring that there is enough space for the user to get out of the vehicle.

[0056] The following Figure 2 introduces in detail a method for controlling vehicle parking provided by an embodiment of the present application.

[0057] Figure 2 is a schematic flowchart of a method for controlling vehicle parking provided by an embodiment of the present application. It should be understood that this method is applied to Figure 1 vehicle 101 therein, and specifically can be applied to any one ECU in vehicle 101. For example, this ECU can be APS in vehicle 101. The following takes APS as the execution subject of this method for introduction and explanation.

[0058] Exemplarily, as Figure 2 shown, this method 200 includes the following steps 201 to 203.

[0059] 201. Determine the parking level of the current parking space according to the width of the current parking space and the body width of the vehicle. The parking level is used to represent the difficulty of the vehicle parking into the current parking space.

[0060] When the vehicle needs to park, the current parking space is the parking space that is the closest to the vehicle and is in an idle state.

[0061] It should be understood that according to the relationship between the vehicle and the channel direction of the parking area, the parking space types include perpendicular parking spaces, parallel parking spaces, and inclined parking spaces. A parallel parking space refers to a parking space where the vehicle is parallel to the channel direction of the parking area; a perpendicular parking space refers to a parking space where the vehicle is perpendicular to the channel direction of the parking area; an inclined parking space refers to a parking space where the vehicle forms a certain angle with the channel direction of the parking area. Regardless of any parking space type, when the vehicle parks, both sides of the vehicle are parallel to the boundary lines of the parking space.

[0062] During the automatic parking process of the vehicle, the parking difficulty corresponding to the spatial structure and size of the parking space is also different. Therefore, in order to ensure the reliability and accuracy of parking, APS needs to first determine the parking level of the current parking space during the automatic parking process. Among them, the parking level of the current parking space is used to represent the difficulty of the vehicle parking into the current parking space.

[0063] Optionally, according to the increasing difficulty of the vehicle parking into the current parking space, the parking levels of the current parking space include the first level, the second level, and the third level. The first level represents that the parking space is relatively wide and the parking difficulty is extremely low; the second level represents that the parking space is relatively narrow and there is difficulty in parking; the third level represents that the parking space is extremely narrow and cannot be parked into.

[0064] Specifically, when the vehicle parks into the current parking space, the parking difficulty is not only related to the width of the parking space itself, but also closely related to the body width of the vehicle.

[0065] Exemplarily, for the width of the current parking space, APS can obtain it by visual means.

[0066] Specifically, the APS can obtain an image including the current parking space through an external camera, identify the parking space markings in the above image through a neural network, and convert the pixel distance between two parking space markings to obtain the width of the current parking space.

[0067] Regarding the body width of the vehicle, which is an inherent parameter of the vehicle itself, the APS can obtain the body width of the vehicle by acquiring the configuration information of the vehicle.

[0068] Specifically, the process by which the APS determines the parking level of the current parking space based on the width of the current parking space and the body width is as follows.

[0069] In a possible implementation, determining the parking level of the current parking space based on the width of the current parking space and the body width of the vehicle includes:

[0070] Determining a first width based on the body width, a first preset travel on the driver's side, and a second preset travel on the passenger's side;

[0071] Determining a second width based on the body width and the first preset travel, where the second width is less than the first width;

[0072] Determining the parking level based on the width of the current parking space, the first width, and the second width.

[0073] Among them, the first preset travel refers to the preset door opening travel (or door opening displacement) corresponding to the occupant on the driver's side; the second preset travel refers to the preset door opening travel corresponding to the occupant on the passenger's side. The door opening travel refers to the displacement of the door edge (referring to the outermost point of the door) in the direction perpendicular to the hinge axis with the door hinge axis as the reference point. The occupants on the driver's side include the occupant in the driver's position and the occupants in the rear row positions directly behind the driver's position, and the occupants on the passenger's side include the occupant in the passenger's position and the occupants in the rear row positions directly behind the passenger's position.

[0074] The door opening travel is positively correlated with the door opening angle. The larger the door opening angle, the larger the door opening travel; conversely, the smaller the door opening angle, the smaller the door opening travel.

[0075] It should be understood that when the vehicle parks in the parking space, the seating positions of the vehicle occupants generally do not change before and after parking in the parking space. When the APS determines the parking level, in order for the vehicle occupants to get out of the vehicle smoothly after the vehicle has completed parking, a first preset travel that can ensure the smooth getting out of the vehicle by the occupants on the driver's side and a second preset travel that can ensure the smooth getting out of the vehicle by the occupants on the passenger's side can be preset.

[0076] Optionally, the first preset travel and the second preset travel can be fixed parameters preset by technicians, independent of the number and position of the vehicle occupants.

[0077] Exemplarily, technicians can preset the preset door opening angles on the driver's side and the passenger's side in advance, and then calculate the first preset travel and the second preset travel through the following formula (1).

[0078] L = R sinθ Formula (1)

[0079] Wherein, in Formula (1):

[0080] L: Door opening travel, unit: meter (m);

[0081] R: The length between the outermost edge of the door and the door hinge, unit: (m);

[0082] θ: Door opening angle, unit (°).

[0083] After technicians set the preset door opening angles on the driver's side and the passenger's side, the first preset travel and the second preset travel can be calculated through Formula (1).

[0084] Optionally, the first preset travel can also be determined based on the door opening travel of the occupant on the driver's side in the current vehicle, and the second preset travel can also be determined based on the door opening travel of the occupant on the passenger's side in the current vehicle. The specific determination method will be introduced below. After obtaining the first preset travel and the second preset travel, when determining the parking level, APS can first determine the first width according to the vehicle body width, the first preset travel and the second preset travel, and determine the second width according to the vehicle body width and the first preset travel.

[0085] Exemplarily, assuming the vehicle body width is D, the first preset travel is d1, and the second preset travel is d2, the first width L1 = D + d1 + d2; the second width is L2 = D + d1.

[0086] After obtaining the first width and the second width, APS can further determine the parking level of the current parking space according to the width of the current parking space, the first width and the second width.

[0087] In the above technical solution, when determining the parking level, first determine the first width and the second width according to the vehicle body width, the first preset travel and the second preset travel. By comparing the width of the current parking space with the first width and the second width respectively, the spatial size of the current parking space can be accurately evaluated, so that the vehicle can accurately determine the difficulty of parking based on the spatial size of the current parking space and discover the risk that the parking space cannot be parked in advance.

[0088] Specifically, the APS can determine the parking level by comparing the above three widths.

[0089] In a possible implementation, determining the parking level according to the width of the current parking space, the first width, and the second width includes:

[0090] When the width of the current parking space is greater than the first width, determining that the parking level is the first level;

[0091] When the width of the current parking space is greater than the second width and less than or equal to the first width, determining that the parking level is the second level, and the parking difficulty of the second level is greater than that of the first level;

[0092] When the width of the current parking space is less than or equal to the second width, determining that the parking level is the third level, and the parking difficulty of the third level is greater than that of the second level;

[0093] And, the method further includes:

[0094] When the parking level is the first level or the second level, the parking level indicates that the current parking space can be parked in;

[0095] When the parking level is the third level, the parking level indicates that the current parking space cannot be parked in.

[0096] When the width of the current parking space is greater than the first width, it indicates that the space of the current parking space is large and the parking difficulty is low, so the parking level is the first level. When the width of the current parking space is between the second width and the first width, it indicates that there may be certain restrictions on the width space of the current parking space, so the parking level is the second level. If the width of the current parking space is less than or equal to the second width, it indicates that the space of the current parking space is extremely narrow and not suitable for the current vehicle to park in, so the parking level is the third level.

[0097] Further, after obtaining the parking level of the current parking space, the APS can also evaluate whether the current parking space can allow the vehicle to park in according to the different parking levels. Among them, when the parking level is the first level or the second level, it indicates that the current parking space can meet the parking space requirement of the vehicle, and the APS determines that the current parking space can be parked in. When the parking level is the third level, it indicates that the current parking space cannot meet the parking space requirement of the vehicle, and the APS determines that the current parking space cannot be parked in.

[0098] In the above technical solution, when specifically determining the parking level of the current parking space, the vehicle compares the width of the current parking space with the first width and the second width respectively to determine the space margin of the current parking space and obtain the parking level, so as to obtain the difficulty of the vehicle parking in, avoid the decline of the user's parking experience caused by the vehicle parking in without prior judgment when the space of the current parking space is very small, and reduce the risk of the vehicle scratching when parking in an extremely narrow parking space.

[0099] In addition, in the embodiments of the present application, in addition to width matching, APS can also determine the parking level by calculating the ratio of the width of the current parking space to the body width of the vehicle.

[0100] In a possible implementation manner, determining the parking level of the current parking space according to the width of the current parking space and the body width of the vehicle includes:

[0101] Determine the width ratio of the width of the current parking space to the body width;

[0102] When the width ratio is in the first ratio interval, determine that the parking level is the first level;

[0103] When the width ratio is in the second ratio interval, determine that the parking level is the second level, and the minimum value of the first ratio interval is greater than the maximum value of the second ratio interval;

[0104] When the width ratio is in the third ratio interval, determine that the parking level is the third level, and the minimum value of the second ratio interval is greater than the maximum value of the third ratio interval.

[0105] Specifically, in the embodiments of the present application, the width ratio range of the parking space width corresponding to the first level to the body width can be preset, denoted as the "first ratio interval", the width ratio range of the parking space width corresponding to the second level to the body width, denoted as the "second ratio interval", and the width ratio range of the parking space width corresponding to the second level to the body width, denoted as the "third ratio interval".

[0106] After calculating the width ratio of the width of the current parking space to the body width, APS can determine the ratio interval where the width ratio is located and determine the corresponding parking level.

[0107] It should be understood that when the parking level is the third level, the vehicle is not suitable for parking. In this case, APS will prompt the user to re-select a new parking space through the central control screen or audio device. That is to say, in the subsequent implementation process of the embodiments of the present application, the suitable parking levels are the first level or the second level.

[0108] 202. When the parking level indicates that the current parking space can be parked and there are obstacles on at least one side of the current parking space, determine the safety distance between the vehicle and the obstacles according to the position of the obstacles, the door opening travel and the seating position corresponding to M occupants in the vehicle, or determine the safety distance between the vehicle and the obstacles according to the parking level, the position of the obstacles, the door opening travel and the seating position corresponding to M occupants.

[0109] It should be understood that the application scenario of the method provided in the embodiments of the present application is during the parking process. When there are obstacles on at least one side of the vehicle, how to ensure the getting-off space for the door occupants so that the vehicle occupants can get off smoothly. When there are no obstacles on both sides of the parking space, the space on both sides of the parking space is sufficient. As long as the vehicle is parked in the parking space, there is sufficient getting-off space for the vehicle occupants when getting off.

[0110] Therefore, before planning the parking path, APS can first determine whether there are obstacles on both sides of the current parking space. Optionally, the obstacles include pillars, curbs, trees, vehicles parked in adjacent parking spaces, etc.

[0111] In the embodiments of the present application, the following method can be used to determine whether there are obstacles on both sides of the current parking space.

[0112] Exemplarily, in the embodiments of the present application, technicians can pre-collect multiple pillar images, curb images, tree images, and vehicle images at different angles and different illuminations through the vehicle camera. Further, the technicians label the images according to different obstacle types, extract the features of each image through the image recognition model, enable the image recognition model to learn the mapping relationship between the image features and the obstacle type corresponding to the image, and output the probability distribution of the image belonging to each type, and calculate the loss function of the image recognition model, and continuously adjust the model parameters until the model training is successful.

[0113] After the model training is successful, the technicians can deploy the model in APS. When applying the image recognition model, APS can collect the left-side environment image of the current parking space through the left-side camera outside the vehicle, and collect the right-side environment image of the current parking space through the right-side camera outside the vehicle. Taking the position where the user stands inside the parking space and faces the parking space exit as a reference, the left hand direction is the left side of the current parking space, and the right hand direction is the right side of the current parking space.

[0114] For any side environment image, APS can input the environment image into the image recognition model, and the image recognition model can recognize whether there are obstacles on both sides of the current parking space. When there is a probability greater than or equal to the preset probability in the probability distribution corresponding to the environment image, it indicates that there is an obstacle on one side of the parking space corresponding to the environment image; if there is no probability greater than or equal to the preset probability in the probability distribution, it indicates that there is no obstacle on one side of the parking space corresponding to the environment image.

[0115] In another exemplary embodiment of the present application, a technician can pre-collect multiple pillar images, curb images, tree images, and vehicle images at different angles and under different lighting conditions through a vehicle camera to obtain multiple preset images. During the parking process, the APS can calculate the similarity between the collected environmental image on either side and each of the above preset images. When the similarity between the environmental image and any one of the above preset images is greater than the preset similarity, it is determined that there is an obstacle on one side of the parking space corresponding to the current environmental image; when the similarity between the environmental image and any one of the preset images is less than or equal to the preset similarity, it is determined that there is no obstacle on one side of the parking space corresponding to the current environmental image.

[0116] When there are no obstacles on both sides of the current parking space, the embodiments of the present application provide the following processing measures.

[0117] In a possible implementation manner, the method further includes:

[0118] When there are no obstacles on both sides of the current parking space, control the vehicle to park centrally in the current parking space.

[0119] When there are no obstacles on both sides of the current parking space, if the current parking space is parkable (i.e., the parking level is the first level or the second level), in the embodiments of the present application, the APS can control the vehicle to park centrally in the current parking space according to the existing central parking method.

[0120] In the above technical solution, when the vehicle automatically parks and there are no obstacles on both sides of the current parking space, the vehicle can directly park centrally. This method simplifies the parking logic when there are no obstacles in the current parking space, reduces the complexity of parking, and improves the parking efficiency.

[0121] When there is an obstacle on at least one side of the current parking space, the APS can further identify the position of the obstacle. The position of the obstacle includes at least one of the left side and the right side of the current parking space.

[0122] Exemplarily, in the embodiments of the present application, when it is determined that there is an obstacle on at least one side of the current parking space, the APS can determine whether the obstacle is determined through the environmental image on the left side of the current parking space or the environmental image on the right side of the current parking space, so as to identify whether the position of the obstacle is on the left side or the right side of the current parking space.

[0123] It should be understood that based on the current automatic parking technology, the vehicle can also park automatically when there is no one in the vehicle. Therefore, in addition to identifying the position of the obstacle, before planning the parking path, the APS can first determine whether there are occupants in the vehicle.

[0124] In a possible implementation manner, the method further includes:

[0125] Obtain an in-vehicle image;

[0126] Judge whether there are occupants in the vehicle according to the in-vehicle image;

[0127] When there are occupants in the vehicle, obtain the door opening travel and seating position corresponding to M occupants;

[0128] When there are no occupants in the vehicle, display a third prompt message and / or broadcast a third prompt message through an intelligent device. The third prompt message is used to remind the target driver for the next driving; obtain the door opening travel of the target driver; when the position of the obstacle is on the driver's side, determine the safety distance as the door opening travel of the target driver.

[0129] Specifically, technicians can pre-collect multiple in-vehicle images with different illuminations (such as strong daylight, dim light at night, tunnel light and shadow) and different angles (front camera shooting from above, side camera shooting obliquely) through an in-vehicle camera. The multiple in-vehicle images are divided into in-vehicle images containing faces and in-vehicle images not containing faces, and the true label (face image / non-face image) of each in-vehicle image is marked. Further, technicians extract the image features (including texture features, motion features, etc.) in the image through a face detection model, make the face detection model output the confidence of the image, and optimize the parameters of the model by comparing with the true label of the image until the model training is successful.

[0130] After the face detection model is successfully trained, it can be deployed in the APS. During the application process, the APS can input the current in-vehicle image into the face detection model and determine whether there are occupants in the vehicle according to the confidence output by the model.

[0131] In one case, when there are no occupants in the vehicle, if the position of the obstacle is on the driver's side, determine the safety distance as the door opening travel of the target driver.

[0132] When the APS determines that there are no occupants in the vehicle, in order to ensure that the driver for the next driving can smoothly open the door and get in the vehicle when the vehicle pulls out from the current parking space, the APS can automatically reserve the safe boarding distance for the driver for the next driving.

[0133] Specifically, the APS can send the third prompt message to the user's intelligent device through the Telematics box (T-box) in the vehicle and the vehicle's Telematics Service Provider (TSP) to prompt the user to select the driver for the next driving.

[0134] Optionally, the third prompt message can be a notification pop-up window in the application, a text notification message in the application, or a voice notification message, etc. The form of the third prompt message in the embodiments of the present application is not limited. The third prompt message includes at least one of the identity document numbers (ID) of multiple users to be selected and / or face images. Among them, the multiple users to be selected are vehicle users who have previously set the door opening angle and face images through the central control screen or smart device and stored in the APS.

[0135] Optionally, in the embodiments of the present application, when the user sets the door opening angle and face image, the user's ID can also be further set. For the specific settings of the door opening angle and face image, please refer to the following description. Optionally, the user's ID can be the user's in-vehicle account name, the user's nickname, or the user's phone number, etc. Based on this, the APS can not only obtain the door opening travel and face image of each user, but also obtain the ID of each user.

[0136] Exemplarily, the third prompt message can be, "It is detected that there is no one in the current vehicle. Please select the target driver for the next drive from the following several users. If the user you want to select is not among the following users, please manually set the target driver for the next drive."

[0137] Furthermore, after the third prompt message is prompted, in order to ensure the smooth progress of the parking process in the embodiments of the present application, a preset response time for the user to the third prompt message can also be set.

[0138] If the user clicks or manually sets the target driver within the preset response time, the APS can obtain the face image and door opening travel of the target driver. If the user does not respond within the preset response time, the APS can determine the preset door opening travel as the door opening travel of the target driver.

[0139] After obtaining the door opening travel of the target driver, if the APS determines that the position of the obstacle is on the driver's side, in order to ensure that the target driver can get on the vehicle smoothly during the next drive, the safe distance between the vehicle and the obstacle can be determined as the door opening travel of the target driver.

[0140] It should be understood that since the current vehicle has not been parked in the vehicle, the driver's side refers to the side of the parking space corresponding to the driver when the vehicle is parked in the current parking space. Similarly, the passenger side refers to the side of the parking space corresponding to the passenger when the vehicle is parked in the current parking space.

[0141] According to the different positions of the steering wheel, the driver's side can be on the left side of the current parking space or on the right side of the current parking space. When the driver's side is on the left side of the current parking space, the passenger's side is on the right side of the current parking space. When the driver's side is on the right side of the current parking space, the passenger's side is on the left side of the current parking space.

[0142] Optionally, when the vehicle is a left-hand drive vehicle, the steering wheel is on the left side, and the position of the obstacle on the driver's side is also equivalent to the position of the obstacle on the left side of the current parking space; when the vehicle is a right-hand drive vehicle, the steering wheel is on the right side, and the position of the obstacle on the driver's side is also equivalent to the position of the obstacle on the right side of the current parking space.

[0143] In another case, when there are occupants in the vehicle, APS can obtain the door opening strokes and seating positions corresponding to M occupants.

[0144] Exemplarily, for any vehicle user, the user can pre-set the door opening angle corresponding to the user and the user's face image in the display interface of the vehicle central control screen or in the display interface of the vehicle control application program in the intelligent device. APS can calculate the door opening stroke of the user through the above formula (1) based on the door opening angle of the user.

[0145] For example, the vehicle users include user A, user B, and user C. User A corresponds to door opening stroke 1 and face image 1, user B corresponds to door opening stroke 2 and face image 2, and user C corresponds to door opening stroke 3 and face image 3.

[0146] Based on this, when the vehicle needs to park automatically currently, for any occupant (including the driver or a passenger) in the vehicle, APS can collect the face image of the occupant through the in-vehicle camera and match it with the face images of multiple users who have pre-set the door opening angle to determine whether the occupant is a user who has set the door opening angle.

[0147] In one scenario, when all occupants are users who have set the door opening angle, APS can obtain the door opening strokes of M occupants through the face images and the corresponding relationship between the face images and the door opening strokes.

[0148] In another scenario, when there is an occupant in the vehicle who is not a user who has set the door opening angle, APS can prompt the occupant to set the door opening angle through the central control screen or the intelligent device.

[0149] In another scenario, when there is an occupant in the vehicle who is not a user who has set the door opening angle, APS can also match a suitable door opening stroke for the occupant according to the body size information of the current occupant. Optionally, the body size information includes at least one of body weight and body width.

[0150] Specifically, in the embodiments of the present application, technicians can preset multiple sets of corresponding relationships between different weight ranges and the door opening strokes corresponding to different weight ranges. The APS can obtain the weight of the occupant through the seat sensor at the occupant position and look up the table to obtain the door opening stroke of the occupant. Alternatively, technicians can preset multiple sets of corresponding relationships between different body widths and the door opening strokes corresponding to different body width ranges. The APS can obtain the body width of the occupant through the in-vehicle camera and look up the table to obtain the door opening stroke of the occupant. Alternatively, technicians can preset multiple sets of corresponding relationships between different body width ranges, different weight ranges, and the door opening strokes corresponding to different body width ranges and different weight ranges. After obtaining the body width and weight of the occupant, the APS can look up the table to obtain the door opening stroke of the occupant.

[0151] After obtaining the door opening strokes of M occupants in any of the above ways, the APS can further identify whether the seating position of each occupant is on the driver's side or the passenger's side through the in-vehicle camera.

[0152] Exemplarily, for the seating position of any occupant, in the embodiments of the present application, technicians can divide the pixel points in the image of the in-vehicle camera into the upper left image area, the upper right area, the lower left image area, and the lower right image area according to the position distribution of the actual physical areas in the vehicle. Each image area corresponds to a physical area at a different position and a different pixel coordinate range.

[0153] Exemplarily, taking a left-hand drive vehicle as an example, the upper left image area corresponds to the driver's position area, the upper right area corresponds to the passenger's position area, the lower left image area corresponds to the rear row position area directly behind the driver's position, and the lower right image area corresponds to the rear row position area directly behind the passenger's position. The value ranges of the pixel coordinates corresponding to different image areas are different.

[0154] After the APS obtains the in-vehicle image through the in-vehicle camera, it can respectively detect the bounding box coordinates of each occupant in the image and determine the pixel coordinate range to which the bounding box coordinates specifically belong, so as to determine the seating position of each occupant.

[0155] In the above technical solution, when obtaining the door opening strokes and seating positions corresponding to M occupants, the vehicle can first determine whether there is anyone in the vehicle, that is, whether the vehicle is in the state of automatic parking without a driver. When there is someone in the vehicle, the vehicle further obtains the door opening strokes and seating positions corresponding to M occupants. When there is no one in the vehicle, if there is an obstacle on the driver's side, the vehicle uses an intelligent device to remind the user to select the target driver for the next drive in advance and obtains the door opening stroke of the target driver, which can ensure that the driver can get on the vehicle smoothly when using the vehicle next time, avoid the problem of difficult driving for the driver caused by the narrow space near the parking space, reduce the probability of the door not being able to open, and enhance the flexibility of vehicle parking.

[0156] When identifying the seating position of each occupant, APS can determine the maximum value of the door opening strokes of at least one occupant on the driver's side as the first preset stroke mentioned above, and determine the maximum value of the door opening strokes of at least one occupant on the passenger's side as the second preset stroke.

[0157] In the case where there are occupants in the vehicle and there are obstacles on at least one side of the current parking space, after obtaining the door opening strokes and seating positions of M occupants, APS can determine the safety distance between the vehicle and the obstacles according to the parking level, the position of the obstacles, the door opening strokes and seating positions corresponding to M occupants.

[0158] Furthermore, in the case where there are obstacles on at least one side of the two sides of the current parking space, the height of some obstacles is lower than the lowest position of the door. In this case, the obstacles actually do not affect the opening of the door. When the obstacle exceeds the lowest position of the door, the obstacle will affect the opening of the door.

[0159] Therefore, before determining the safety distance between the vehicle and the obstacle, APS can first obtain the height of the obstacle.

[0160] In a possible implementation, before determining the safety distance between the vehicle and the obstacle according to the position of the obstacle, the door opening strokes and seating positions corresponding to M occupants in the vehicle, or before determining the safety distance between the vehicle and the obstacle according to the parking level, the position of the obstacle, the door opening strokes and seating positions corresponding to M occupants, the method further includes:

[0161] Obtaining the height of the obstacle;

[0162] And, determining the safety distance between the vehicle and the obstacle according to the position of the obstacle, the door opening strokes and seating positions corresponding to M occupants in the vehicle, or determining the safety distance between the vehicle and the obstacle according to the parking level, the position of the obstacle, the door opening strokes and seating positions corresponding to M occupants, includes:

[0163] When the height of the obstacle is greater than or equal to the preset height, determine the safe distance between the vehicle and the obstacle according to the position of the obstacle, the door opening strokes and seating positions of M occupants in the vehicle, or determine the safe distance between the vehicle and the obstacle according to the parking level, the position of the obstacle, the door opening strokes and seating positions of M occupants.

[0164] Specifically, in the embodiments of the present application, a person skilled in the art can pre-measure the vertical height between the lowest boundary of the door and the ground, and determine this vertical height as the preset height.

[0165] When APS recognizes that there is an obstacle on at least one side of the current parking space, the height of the vehicle obstacle can be detected by lidar. When the height of the obstacle is less than the preset height, it means that the obstacle will not affect the degree of door opening. That is to say, as long as the vehicle is parked in the parking space, the occupants can get off the vehicle smoothly. In this case, APS can control the vehicle to park according to the existing centered parking method. On the contrary, when the height of the obstacle is greater than or equal to the preset height, it means that the obstacle may affect the degree of door opening. APS can further determine the safe distance between the vehicle and the obstacle.

[0166] Specifically, according to the position where the obstacles are distributed, it is divided into the following two cases.

[0167] (1) There is an obstacle on one side of the current parking space

[0168] In a possible implementation, determining the safe distance between the vehicle and the obstacle according to the position of the obstacle, the door opening strokes and seating positions of M occupants in the vehicle includes:

[0169] When the position of the obstacle is on one side, if the position of the obstacle is on the driver's side, determine N occupants on the driver's side from the M occupants according to the seating positions of the M occupants, where N is less than or equal to M; determine the safe distance as the maximum value of the door opening strokes of the N occupants;

[0170] When the position of the obstacle is on one side, if the position of the obstacle is on the passenger's side, determine L occupants on the passenger's side from the M occupants according to the seating positions of the M occupants, where L is less than or equal to M; determine the safe distance as the maximum value of the door opening strokes of the L occupants.

[0171] It should be understood that when the position of the obstacle is on one side of the current parking space, the obstacle may be on the driver's side or the passenger's side.

[0172] Optionally, if the vehicle is a left-hand drive vehicle, the driver's side refers to the left side of the current parking space, and the passenger's side refers to the right side of the current parking space; if the vehicle is a right-hand drive vehicle, the driver's side refers to the right side of the current parking space, and the passenger's side refers to the left side of the current parking space.

[0173] If the parking level is the first level, combined with the judgment conditions of the first level, the current parking space can simultaneously meet the first preset travel on the driver's side and the second preset travel on the co-driver's side. The first preset travel and the second preset travel can be regarded as safety distances. In this case, the APS only needs to first determine the safety distance between the vehicle and the obstacle on the side of the obstacle, so that the occupants on the side of the obstacle can get off the vehicle smoothly, and as long as the other side does not exceed the range of the current parking space.

[0174] If the parking level is the second level, combined with the judgment conditions of the second level, it means that the current parking space can only meet the safety distance on one side. In this case, the safety distance between the vehicle and the obstacle should also be given priority to ensure that the occupants on the side of the obstacle can get off the vehicle smoothly, and as long as the other side does not exceed the range of the current parking space.

[0175] Therefore, when the position of the obstacle is on one side, regardless of whether the parking level is the first level or the second level, the same processing method can be adopted. That is to say, when the position of the obstacle is on one side, as long as the current parking space is parkable, the determination of the safety distance has nothing to do with the parking level.

[0176] If the position of the obstacle is on the driver's side, the APS can determine N occupants on the driver's side from the M occupants according to the previously determined seating positions of the M occupants. Further, the APS can obtain the door opening travels of the N occupants from the door opening travels of the M occupants according to the face images of the N occupants. In order to ensure that all occupants on the side of the obstacle can get off the vehicle smoothly, the safety distance is the maximum value of the door opening travels of the N occupants.

[0177] If the position of the obstacle is on the co-driver's side, the APS can determine L occupants on the co-driver's side from the M occupants according to the previously determined seating positions of the M occupants. Further, the APS can obtain the door opening travels of the L occupants from the door opening travels of the M occupants according to the face images of the L occupants. In order to ensure that all occupants on the side of the obstacle can get off the vehicle smoothly, the safety distance is the maximum value of the door opening travels of the L occupants.

[0178] In the above technical solution, the above steps correspond to the situation where there is an obstacle on only one side of the current parking space. Whether the parking level is the first level or the second level, the getting-off requirements of the occupants on one side can be met. Therefore, when there is an obstacle on one side of the current parking space, the vehicle only needs to meet the getting-off requirements of the occupants on the side of the obstacle. Specifically, it is divided into two cases. The first case is when the obstacle is on the driver's side. The vehicle can determine N occupants on the driver's side from the M occupants according to the seating positions of the M occupants. In order to meet the getting-off requirements of the N occupants simultaneously, the vehicle can determine the maximum value of the door opening travel of the N occupants as the safety distance between the vehicle and the obstacle. The second case is when the obstacle is on the passenger's side. Similarly, the vehicle can determine L occupants on the passenger's side from the M occupants according to the seating positions of the M occupants, and determine the maximum value of the door opening travel of the L occupants as the safety distance between the vehicle and the obstacle.

[0179] When the obstacle is only located on one side of the current parking space, the vehicle can screen out at least one occupant on the same side as the obstacle, and determine the maximum value of the door opening travel of the at least one occupant as the safety distance, which ensures that during the parking process, the vehicle can flexibly adjust the safety distance dynamically according to the actual occupant distribution, and ensures that all occupants on the side of the obstacle will not touch the obstacle when getting off. When multiple people are riding in the vehicle, it can significantly improve the parking experience of the occupants and reduce the risk of the vehicle being scratched or collided.

[0180] (2) There are obstacles on both sides of the current parking space

[0181] In a possible implementation, the parking level includes the first level or the second level, the obstacles include the driver's side obstacle and the passenger's side obstacle, the safety distance between the vehicle and the obstacle includes the safety distance between the vehicle and the driver's side obstacle, and the safety distance between the vehicle and the passenger's side obstacle. According to the parking level, the position of the obstacle, the door opening travel and the seating position corresponding to the M occupants, determining the safety distance between the vehicle and the obstacle further includes:

[0182] When the position of the obstacle is on both sides, determine P occupants on the driver's side and Q occupants on the passenger's side from the M occupants according to the seating positions of the M occupants, where both P and Q are less than or equal to M;

[0183] If the parking level is the first level, determine the safety distance between the vehicle and the driver's side obstacle as the maximum value of the door opening travel of the P occupants, and determine the safety distance between the vehicle and the passenger's side obstacle as the maximum value of the door opening travel of the Q occupants;

[0184] If the parking level is the second level, determine the safety distance between the vehicle and the driver's side obstacle as the maximum value of the door opening travel of the P occupants.

[0185] Specifically, when there are obstacles on both sides of the current parking space, the obstacles include the driver's side obstacle and the co-driver's side obstacle. Correspondingly, the safety distance between the vehicle and the obstacles includes the safety distance between the vehicle and the driver's side obstacle, and the safety distance between the vehicle and the co-driver's side obstacle. APS can first divide the M occupants into P occupants on the driver's side and Q occupants on the co-driver's side according to their seating positions.

[0186] When the parking level is the first level, it indicates that the current parking space can meet the requirements for the getting-off space of the occupants on both the driver's side and the co-driver's side. Therefore, APS can determine the safety distance between the vehicle and the driver's side obstacle as the maximum value of the door opening travel of the P occupants, and determine the safety distance between the vehicle and the co-driver's side obstacle as the maximum value of the door opening travel of the Q occupants.

[0187] When the parking level is the second level, it means that the current parking space can only meet the requirements for the getting-off space of the occupants on one side. In this case, the embodiment of the present application will preferentially meet the requirements for the getting-off space of the occupants on the driver's side. Therefore, APS can determine the safety distance between the vehicle and the driver's side obstacle as the maximum value of the door opening travel of the P occupants.

[0188] In the above technical solution, when the obstacles are located on both sides of the current parking space, by differentiating the seating positions of the M occupants into P occupants on the driver's side and Q occupants on the co-driver's side according to their seating positions, the calculation of the safety distance is directly related to the side of the occupants who actually need to open the door, so that when calculating the safety distance, refined control by side can be achieved, and the pertinence of the parking strategy can be improved.

[0189] When the parking level is the first level, the parking space is sufficient, and the safety distances on both the driver's side and the co-driver's side are calculated simultaneously, which can ensure that the occupants on both sides can get off safely. When the parking level is the second level, due to the limited parking space, giving priority to ensuring the getting-off requirements of the occupants on the driver's side can ensure that the driver can get off smoothly. By calculating the safety distance between the vehicle and the obstacles flexibly according to the different parking levels of the parking space, and optimizing the calculation method on the premise of ensuring core safety, the success rate and flexibility of parking are improved.

[0190] Furthermore, when the parking level is the second level, after APS determines the safety distance between the vehicle and the driver's side obstacle as the maximum value of the door opening travel of the P occupants, for the Q occupants on the co-driver's side, the following processing method is also proposed.

[0191] In a possible implementation manner, if the parking level is the second level, after determining the safety distance between the vehicle and the driver's side obstacle as the maximum value of the door opening travel of the P occupants, the method further includes:

[0192] Display the first prompt message and / or broadcast the first prompt message, where the first prompt message is used to prompt Q occupants on the co-driver side to get off the vehicle in advance before parking.

[0193] In the case where Q occupants on the co-driver side are not detected getting off the vehicle within a preset duration, display the second prompt message and / or broadcast the second prompt message, where the second prompt message is used to prompt the Q occupants on the co-driver side to get off the vehicle from the driver side after parking is completed.

[0194] Since when there are obstacles on both sides of the current parking space, if the parking level is the second level, the current parking space can only preferentially meet the getting-off space requirements of the driver-side occupants. For the Q occupants on the co-driver side, before planning the parking path, APS can control the central control screen to display the first prompt message and / or control the in-vehicle audio playback device to broadcast the first prompt message, and the first prompt message is used to prompt the Q occupants on the co-driver side to get off the vehicle in advance before automatic parking.

[0195] Exemplarily, the first prompt message can be, "The current parking space is narrow and there are obstacles on both sides of the vehicle. To provide you with a good parking experience, it is recommended that the occupants on the co-driver side get off the vehicle in advance before parking."

[0196] Furthermore, in the embodiments of the present application, a preset duration for waiting for the co-driver side occupants to get off the vehicle can also be preset when there are obstacles on both sides of the current parking space and the parking level is the second level. Optionally, the preset duration can be 2 minutes.

[0197] After displaying the first prompt message and / or broadcasting the first prompt message, APS can time the duration of waiting for the occupants to get off the vehicle to obtain the waiting getting-off duration. If the waiting getting-off duration reaches the preset duration and the Q occupants on the co-driver side still have not got off the vehicle, then APS can further plan the automatic parking path and display the second prompt message and / or the second prompt message, which is used to prompt the Q occupants on the co-driver side to get off the vehicle from the driver side after parking is completed.

[0198] Exemplarily, the second prompt message can be, "The current parking space is narrow and there are obstacles on both sides of the vehicle. To provide you with a good parking experience, the vehicle will now perform automatic parking. Please ask the occupants on the co-driver side to get off the vehicle from the driver side after parking is completed."

[0199] In the above technical solution, when the parking level is the second level, the vehicle preferentially ensures the space requirement for the driver's side occupant to get out of the vehicle safely. On the passenger side, the door may not be able to open normally due to insufficient remaining space in the parking space. At this time, the first prompt message is used to guide the passenger side occupant to get out of the vehicle in advance, avoiding being trapped in the vehicle due to insufficient space on the passenger side after parking or forcibly opening the door and colliding with obstacles. If the passenger side occupant does not get out of the vehicle within the preset time, the system guides the occupant to get out of the vehicle from the driver's side through the second prompt message, ensuring the availability of the occupant's exit passage under any circumstances, avoiding the passenger on the passenger side being trapped due to the parking strategy, and improving the user's parking experience through multiple rounds of prompts and alternative solutions.

[0200] 203. According to the safety distance, control the vehicle to perform automatic parking.

[0201] After determining the safety distance between the vehicle and the obstacle through step 202, APS can automatically plan a parking path based on the safety distance and the width of the current parking space, and control the vehicle to park automatically.

[0202] In summary, in the parking process of the present application, a method for controlling vehicle parking is provided. In the implementation process of this method, the vehicle can determine the parking level of the current parking space according to the width of the current parking space and the body width of the vehicle, so as to identify the parking space of the current parking space. When the current parking space is sufficient for the vehicle to park, if there is an obstacle on one side of the current parking space, the vehicle can dynamically calculate the safety distance between the vehicle and the obstacle by combining the parking level, the position of the obstacle, and the door opening travel of the occupant. In the above process, the vehicle only chooses to park when the current parking space is full, which can ensure the reliability of vehicle parking, avoid the problem that the vehicle cannot park due to too small a parking space, and reduce the user's parking complaints. Further, during automatic parking, the vehicle can determine multiple different obstacle positions, multiple occupant seating positions and exit spaces, as well as multiple safety distances under multiple parking spaces, so that the method of the present application can be flexibly applied to a variety of different parking scenarios, solving the rigid problem brought by the inability of the fixed parking method to adapt well to each parking scenario. The above process of personalized determination of the safety distance between the vehicle and the obstacle can enable the user to have sufficient exit space in different parking environments.

[0203] Next, through Figure 3 introduce the overall process of a method for controlling vehicle parking provided by an embodiment of the present application.

[0204] Figure 3 is a schematic flowchart of another method for controlling vehicle parking provided by an embodiment of the present application.

[0205] Exemplarily, as Figure 3 shown, this method 300 includes steps 301 to step 313.

[0206] 301. Determine the parking level of the current parking space according to the width of the current parking space and the body width of the vehicle. The parking level is used to indicate the difficulty of the vehicle parking into the current parking space.

[0207] 302. Determine whether the parking level of the current parking space is the third level.

[0208] When the parking level is the third level, prompt the user that parking is not possible currently.

[0209] When the parking level is the first level or the second level, perform step 303.

[0210] 303. Determine whether there are obstacles on at least one side of the current parking space.

[0211] When there are no obstacles on both sides of the current parking space, perform step 304.

[0212] When there are obstacles on at least one side of the current parking space, perform step 305.

[0213] 304. Control the vehicle to park in the center of the current parking space.

[0214] 305. Determine whether there are occupants in the vehicle according to the in-vehicle image.

[0215] When there are no occupants in the vehicle, display and / or broadcast a third prompt message through the intelligent device. The third prompt message is used to remind to determine the target driver for the next driving; obtain the door opening travel of the target driver; if the position of the obstacle is on the driver's side, determine the safety distance as the door opening travel of the target driver.

[0216] When there are occupants in the vehicle, it is divided into three cases:

[0217] When the position of the obstacle is on one side, regardless of whether the parking level is the first level or the second level, perform steps 306 - 307.

[0218] When the position of the obstacle is on both sides and the parking level is the first level, perform steps 308 - 310.

[0219] When the position of the obstacle is on both sides and the parking level is the second level, perform steps 311 - 313.

[0220] 306. Determine at least one occupant on the same side as the obstacle from the M occupants according to the sitting positions of the M occupants and the position of the obstacle.

[0221] 307. Determine the safety distance as the maximum value of the door opening travels of at least one occupant.

[0222] 308. Determine the maximum door opening travel of the P occupants on the same side as the driver's side obstacle among the M occupants, and the maximum door opening travel of the Q occupants on the same side as the passenger's side obstacle.

[0223] 309. Determine that the safety distance between the vehicle and the driver's side obstacle is the maximum door opening travel of the P occupants.

[0224] 310. Determine that the safety distance between the vehicle and the passenger's side obstacle is the maximum door opening travel of the Q occupants.

[0225] 311. Determine that the safety distance between the vehicle and the driver's side obstacle is the maximum door opening travel of the P occupants.

[0226] 312. Display the first prompt message and / or broadcast the first prompt message, where the first prompt message is used to prompt the Q occupants on the passenger's side to get off the vehicle in advance before parking.

[0227] 313. In the case where the Q occupants on the passenger's side are not detected getting off the vehicle within a preset duration, display the second prompt message and / or broadcast the second prompt message, where the second prompt message is used to prompt the Q occupants on the passenger's side to get off the vehicle from the driver's side after parking is completed.

[0228] Steps 301 to 308 in the above method 300 have the same inventive concept as steps 201 to 203 in the foregoing method 200. For specific details, please refer to the introduction of the foregoing method 200 and will not be elaborated here.

[0229] Figure 4 It is a schematic structural diagram of a device for controlling vehicle parking provided by an embodiment of the present application.

[0230] Exemplarily, as Figure 4 shown, the device 400 includes:

[0231] A level determination module 401, configured to determine the parking level of the current parking space according to the width of the current parking space and the body width of the vehicle, where the parking level is used to represent the difficulty of the vehicle parking into the current parking space;

[0232] A distance determination module 402, configured to, when the parking level indicates that the current parking space can be parked into and there is at least one obstacle on at least one side of the current parking space, determine the safety distance between the vehicle and the obstacle according to the position of the obstacle, the door opening travel and seating position of the M occupants in the vehicle, or determine the safety distance between the vehicle and the obstacle according to the parking level, the position of the obstacle, the door opening travel and seating position of the M occupants;

[0233] A parking control module 403, configured to control the vehicle to perform automatic parking according to the safety distance.

[0234] In a possible implementation, the level determination module 401 is specifically configured to: determine a first width according to the vehicle body width, a first preset travel on the driver's side, and a second preset travel on the passenger's side; determine a second width according to the vehicle body width and the first preset travel, where the second width is less than the first width; and determine the parking level according to the width of the current parking space, the first width, and the second width.

[0235] In a possible implementation, the level determination module 401 is further configured to: determine that the parking level is the first level when the width of the current parking space is greater than the first width; determine that the parking level is the second level when the width of the current parking space is greater than the second width and less than or equal to the first width, where the parking difficulty of the second level is greater than that of the first level; and determine that the parking level is the third level when the width of the current parking space is less than or equal to the second width, where the parking difficulty of the third level is greater than that of the second level. Further, the level determination module 402 is configured to: indicate that the current parking space can be parked in when the parking level is the first level or the second level; and indicate that the current parking space cannot be parked in when the parking level is the third level.

[0236] In a possible implementation, the distance determination module 402 is specifically configured to: when the position of the obstacle is on one side, if the position of the obstacle is on the driver's side, determine N occupants on the driver's side from the M occupants according to the seating positions of the M occupants, where N is less than or equal to M; and determine the safety distance as the maximum value of the door opening travels of the N occupants; when the position of the obstacle is on one side, if the position of the obstacle is on the passenger's side, determine L occupants on the passenger's side from the M occupants according to the seating positions of the M occupants, where L is less than or equal to M; and determine the safety distance as the maximum value of the door opening travels of the L occupants.

[0237] In a possible implementation, the parking level includes a first level or a second level, the obstacle includes an obstacle on the driver's side and an obstacle on the co-driver's side, the safety distance between the vehicle and the obstacle includes the safety distance between the vehicle and the obstacle on the driver's side, and the safety distance between the vehicle and the obstacle on the co-driver's side. The distance determination module 402 is further configured to: when the position of the obstacle is on both sides, determine P occupants on the driver's side and Q occupants on the co-driver's side from the M occupants according to the seating positions of the M occupants, where both P and Q are less than or equal to M; if the parking level is the first level, determine the safety distance between the vehicle and the obstacle on the driver's side as the maximum value of the door opening strokes of the P occupants, and determine the safety distance between the vehicle and the obstacle on the co-driver's side as the maximum value of the door opening strokes of the Q occupants; if the parking level is the second level, determine the safety distance between the vehicle and the obstacle on the driver's side as the maximum value of the door opening strokes of the P occupants.

[0238] In a possible implementation, after determining that the safety distance between the vehicle and the obstacle on the driver's side is the maximum value of the door opening strokes of the P occupants when the parking level is the second level, the distance determination module 402 is further configured to: display the first prompt message and / or broadcast the first prompt message, where the first prompt message is used to prompt the Q occupants on the co-driver's side to get off the vehicle in advance before parking; when it is not detected that the Q occupants on the co-driver's side get off the vehicle within a preset duration, display the second prompt message and / or broadcast the second prompt message, where the second prompt message is used to prompt the Q occupants on the co-driver's side to get off the vehicle from the driver's side after parking is completed.

[0239] In a possible implementation, the distance determination module 402 is further configured to: obtain an in-vehicle image; determine whether there are occupants in the vehicle according to the in-vehicle image; when there are occupants in the vehicle, obtain the door opening strokes and seating positions corresponding to the M occupants; when there are no occupants in the vehicle, display the third prompt message and / or broadcast the third prompt message through a smart device, where the third prompt message is used to remind the target driver for the next driving; obtain the door opening stroke of the target driver; when the position of the obstacle is on the driver's side, determine the safety distance as the door opening stroke of the target driver.

[0240] Figure 5 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

[0241] Exemplarily, as Figure 5 shown, the vehicle 101 includes: a memory 501 and a processor 502. Among them, an executable program code 5011 is stored in the memory 501, and the processor 502 is configured to call and execute the executable program code 5011 to execute a method for controlling vehicle parking.

[0242] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor. Among them, an executable program code is stored in the memory, and the processor is used to call and execute the executable program code to execute a method for controlling vehicle parking provided by the embodiment of the present application.

[0243] This embodiment can divide the functions of the device according to the above method example. For example, it can correspond to each function module, or integrate two or more functions into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0244] In the case of dividing each function module according to each function, the device may further include a level determination module, a distance determination module, a parking control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be cited in the function description of the corresponding function module, and will not be repeated here.

[0245] It should be understood that the device provided by this embodiment is used to execute the above method for controlling vehicle parking, so the same effect as the above implementation method can be achieved.

[0246] In the case of adopting an integrated unit, the device may include a processing module and a storage module. Among them, when the device is applied to a vehicle, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute relevant program codes, etc.

[0247] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules and circuits shown in combination with the disclosure of the present application. The processor can also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0248] In addition, the device provided by the embodiment of the present application can specifically be a chip, a component or a module. The chip may include a connected processor and a memory; among them, the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a method for controlling vehicle parking provided by the above embodiment.

[0249] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code runs on a computer, the computer is caused to execute the above-related method steps to implement a method for controlling vehicle parking provided in the above embodiment.

[0250] This embodiment also provides a computer program product. When the computer program product runs on a computer, the computer is caused to execute the above-related steps to implement a method for controlling vehicle parking provided in the above embodiment.

[0251] Among them, the device, computer-readable storage medium, computer program product, or chip provided in this embodiment are all used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be elaborated here.

[0252] Through the description of the above embodiments, those skilled in the art can understand that for the convenience and brevity of description, only the division of the above functional modules is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0253] In the embodiments provided in this application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0254] The above content is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application, and all should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A method for controlling vehicle parking, characterized in that, The method includes: Determining a parking level of the current parking space according to the width of the current parking space and the body width of the vehicle, where the parking level is used to represent the difficulty of parking the vehicle into the current parking space; When the parking level indicates that the current parking space can be parked into and there are obstacles on at least one side of the current parking space, determining a safety distance between the vehicle and the obstacles according to the positions of the obstacles, the door opening strokes and seating positions of M occupants in the vehicle, or determining the safety distance between the vehicle and the obstacles according to the parking level, the positions of the obstacles, the door opening strokes and seating positions of the M occupants; Controlling the vehicle to perform automatic parking according to the safety distance.

2. The method according to claim 1, characterized in that, The determining the parking level of the current parking space according to the width of the current parking space and the body width of the vehicle includes: Determining a first width according to the body width, a first preset stroke on the driver's side, and a second preset stroke on the co-driver's side; Determining a second width according to the body width and the first preset stroke, where the second width is less than the first width; Determining the parking level according to the width of the current parking space, the first width, and the second width.

3. The method according to claim 2, wherein The determining the parking level according to the width of the current parking space, the first width, and the second width includes: When the width of the current parking space is greater than the first width, determining that the parking level is the first level; When the width of the current parking space is greater than the second width and less than or equal to the first width, determining that the parking level is the second level, and the parking difficulty of the second level is greater than that of the first level; When the width of the current parking space is less than or equal to the second width, determining that the parking level is the third level, and the parking difficulty of the third level is greater than that of the second level; And, the method further includes: When the parking level is the first level or the second level, the parking level indicates that the current parking space can be parked into; When the parking level is the third level, the parking level indicates that the current parking space cannot be parked into.

4. The method according to any one of claims 1 to 3, characterized in that The determining the safety distance between the vehicle and the obstacles according to the positions of the obstacles, the door opening strokes and seating positions of M occupants in the vehicle includes: When the position of the obstacle is on one side, if the position of the obstacle is on the driver's side, determining N occupants on the driver's side from the M occupants according to the seating positions of the M occupants, where N is less than or equal to M; determining the safety distance as the maximum value of the door opening strokes of the N occupants; When the position of the obstacle is on one side, if the position of the obstacle is on the co-driver's side, determining L occupants on the co-driver's side from the M occupants according to the seating positions of the M occupants, where L is less than or equal to M; determining the safety distance as the maximum value of the door opening strokes of the L occupants.

5. The method according to any one of claims 1 to 3, characterized in that, The parking levels include a first level or a second level. The obstacles include obstacles on the driver's side and obstacles on the passenger's side. The safety distance between the vehicle and the obstacles includes the safety distance between the vehicle and the obstacles on the driver's side, and the safety distance between the vehicle and the obstacles on the passenger's side. Determining the safety distance between the vehicle and the obstacles according to the parking level, the position of the obstacles, the door opening strokes and seating positions of the M occupants includes: When the positions of the obstacles are on both sides, based on the seating positions of the M occupants, determine P occupants on the driver's side and Q occupants on the passenger's side from the M occupants, where both P and Q are less than or equal to M; If the parking level is the first level, determine the safety distance between the vehicle and the obstacles on the driver's side as the maximum value of the door opening strokes of the P occupants, and determine the safety distance between the vehicle and the obstacles on the passenger's side as the maximum value of the door opening strokes of the Q occupants; If the parking level is the second level, determine the safety distance between the vehicle and the obstacles on the driver's side as the maximum value of the door opening strokes of the P occupants.

6. The method according to claim 5, wherein After determining that if the parking level is the second level, the safety distance between the vehicle and the obstacles on the driver's side is the maximum value of the door opening strokes of the P occupants, the method further includes: Displaying the first prompt message and / or broadcasting the first prompt message, where the first prompt message is used to prompt the Q occupants on the passenger's side to get out of the vehicle in advance before parking; When it is not detected that the Q occupants on the passenger's side get out of the vehicle within a preset time period, displaying the second prompt message and / or broadcasting the second prompt message, where the second prompt message is used to prompt the Q occupants on the passenger's side to get out of the vehicle from the driver's side after parking is completed.

7. The method according to claim 1, characterized in that The method further includes: Obtaining an in-vehicle image; Judging whether there are occupants in the vehicle according to the in-vehicle image; When there are occupants in the vehicle, obtaining the door opening strokes and seating positions of the M occupants; When there are no occupants in the vehicle, displaying the third prompt message and / or broadcasting the third prompt message through a smart device, where the third prompt message is used to remind to determine the target driver for the next drive; obtaining the door opening stroke of the target driver; when the position of the obstacle is on the driver's side, determining the safety distance as the door opening stroke of the target driver.

8. A device for controlling vehicle parking, characterized in that, The device includes: A level determination module, configured to determine the parking level of the current parking space according to the width of the current parking space and the body width of the vehicle, where the parking level is used to indicate the difficulty of the vehicle parking into the current parking space; A distance determination module, configured to, when the parking level indicates that the current parking space is parkable and there are obstacles on at least one side of the current parking space, determine a safety distance between the vehicle and the obstacle according to the position of the obstacle, the door opening strokes and seating positions of M occupants in the vehicle, or determine the safety distance between the vehicle and the obstacle according to the parking level, the position of the obstacle, the door opening strokes and seating positions of the M occupants; A parking control module, configured to control the vehicle to perform automatic parking according to the safety distance.

9. A vehicle, characterized in that, The vehicle includes: A memory, configured to store executable program code; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed, implements the method according to any one of claims 1 to 7.

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