Intelligent parking method and device

Abstract

An intelligent parking method and apparatus wherein a planning module (120) determines a first parking path, and a control module (110) controls a vehicle (100) to park according to the first parking path; if the first event occurs, the planning module (120) determines that the vehicle (100) completes parking, and the control module (110) controls the vehicle (100) to complete parking, or the planning module (120) determines a second parking path, and the control module (110) controls the vehicle (100) to park according to the second parking path; the second parking path is different from the first parking path. In the automatic parking process, when the first event occurs, the vehicle can switch the parking scheme, the safety risk or the parking experience of slow starting caused by continuing to park according to the original parking route is effectively avoided, and the user experience can be improved.

Description

Intelligent parking method and device Technical Field

[0001] The present application relates to the field of intelligent driving, and in particular to an intelligent parking method and device. Background Art

[0002] Automatic parking is a fundamental feature of intelligent driving. In real-world parking scenarios, the road and surrounding environment are complex and ever-changing, and obstacles (such as wheel chocks, road bumps, speed bumps, curbs, shallow slopes, or potholes) are common during parking. If a vehicle attempts to directly climb over an obstacle, there is a risk of being unable to do so or overshooting the obstacle. If the vehicle doesn't climb over the obstacle, it may not be able to park properly, requiring manual intervention and impacting the user experience.

[0003] How to improve the safety and user experience of the vehicle's automatic parking function is a technical problem that needs to be solved urgently.

[0004] Summary of the Invention

[0005] The embodiments of the present application provide a smart parking method and device to improve the safety and user experience of the vehicle's automatic parking function.

[0006] In a first aspect, an intelligent parking method is provided, comprising: parking a vehicle according to a first parking path; if a first event occurs, the vehicle completes parking or parks according to a second parking path; wherein the second parking path is different from the first parking path.

[0007] During the automatic parking process, when the first event occurs, the vehicle can switch parking plans, such as completing parking directly or parking based on a new parking route (i.e., the second parking path). This can effectively avoid the safety risks or slow start parking experience caused by continuing to park according to the original parking route (i.e., the first parking path), and can improve the user experience.

[0008] In the embodiment of the present application, the first event includes but is not limited to the following:

[0009] The first type is that the vehicle is stuck by an obstacle and the vehicle does not start after the driving torque of the vehicle increases to the torque upper limit.

[0010] The upper torque limit may be positively correlated with the length of the remaining path of the first parking path when the first event occurs.

[0011] When the vehicle is stuck by an obstacle and the vehicle's driving torque increases to the torque upper limit but the vehicle still does not start, the vehicle switches parking plans (such as completing parking or switching to a new parking route) to avoid climbing over the obstacle, improve the safety factor of automatic parking, reduce the driver's takeover rate and increase the parking success rate.

[0012] The second type is that the vehicle collides with an obstacle and the speed is reversed.

[0013] When the vehicle collides and rebounds, switching the parking plan (such as completing parking or switching to a new parking route) can avoid climbing over obstacles, increase parking speed, and eliminate the need for manual takeover, thereby improving the user experience of the parking function.

[0014] The third type is that the vehicle stops early.

[0015] Specifically, the vehicle stopping in advance may be stopping in advance within a preset range from the end point.

[0016] When the vehicle stops before reaching the parking end, the vehicle switches the parking plan (such as completing parking or switching to a new parking route), which can avoid the risk of crossing obstacles such as wheel stops at the parking end. No manual takeover is required, which can enhance the user's experience of using the automatic parking function.

[0017] Currently, the above are only examples and not limitations.

[0018] In one possible design, the vehicle's starting gear position when parking along the second parking path is different from the vehicle's gear position before the first event occurs; and / or the vehicle's starting driving direction when parking along the second parking path is different from the vehicle's final driving direction before the first event occurs.

[0019] In this way, the second parking path can be ensured to be different from the first parking path, avoiding the safety risks caused by parking along the original route.

[0020] In a possible design, the vehicle may also obtain chassis tracking information and determine the occurrence of the first event based on the chassis tracking information.

[0021] In this way, the vehicle can accurately detect the first event, helping to identify risks in a timely manner and take countermeasures (such as switching parking plans).

[0022] In one possible design, a vehicle acquires chassis tracking information and determines the occurrence of a first event based on the chassis tracking information, including: a control module of the vehicle acquires the chassis tracking information and determines the occurrence of the first event based on the chassis tracking information. The method may also include: the control module of the vehicle reporting a flag to a planning module of the vehicle, the flag being used to indicate the occurrence of the first event.

[0023] In this way, the control module monitors the first event and reports the flag to the planning module, so that the planning module can re-plan the parking plan in time after the first event occurs, thereby improving the reliability of the plan.

[0024] In one possible design, the vehicle completes parking or parks according to the second parking path, including: the vehicle's planning module receives a flag from the control module, and determines the completion of parking or determines the second planned path based on the flag; the planning module sends a control instruction to the control module, the control module receives the control instruction, and completes parking or parks according to the second parking path based on the control instruction.

[0025] In this way, the planning module replans the parking plan according to the flag position and issues new control instructions to the control module in a timely manner, thereby improving the reliability of the plan.

[0026] In one possible design, when the flag bit takes different values, it can indicate different first event types.

[0027] This helps the planning module distinguish different events and replan parking plans based on different events.

[0028] In one possible design, the vehicle completes parking or parks according to the second parking path, including: if the remaining distance of the first parking path does not exceed the preset distance when the first event occurs, the vehicle completes parking; or if the remaining distance of the first parking path exceeds the preset distance when the first event occurs, the vehicle parks according to the second parking path.

[0029] In this way, parking can be completed directly when approaching the destination, which can save the vehicle's energy consumption; when the distance to the destination is far, parking according to the new route can avoid risks, ensure that the parking is in place, and improve the user experience.

[0030] In one possible design, the vehicle may also determine a second parking path according to the type of the first event.

[0031] In this way, it can be ensured that the newly planned route (i.e., the second parking path) can better avoid risks and improve parking safety and efficiency.

[0032] In a second aspect, an intelligent parking method is provided, including: a planning module determining a first parking path; a control module controlling a vehicle to park according to the first parking path; if a first event occurs, the planning module determines that the vehicle has completed parking, and the control module controls the vehicle to complete parking, or the planning module determines a second parking path, and the control module controls the vehicle to park according to the second parking path; wherein the second parking path is different from the first parking path.

[0033] In one possible design, the first event includes: the vehicle is stuck by an obstacle and the vehicle does not start after the driving torque of the vehicle increases to the torque upper limit; or the vehicle collides with an obstacle, causing the speed to reverse; or the vehicle stops prematurely.

[0034] In one possible design, the upper torque limit is positively correlated with the length of the remaining path of the first parking path when the first event occurs.

[0035] In one possible design, the vehicle's starting gear position when parking along the second parking path is different from the vehicle's gear position before the first event occurs; and / or the vehicle's starting driving direction when parking along the second parking path is different from the vehicle's final driving direction before the first event occurs.

[0036] In one possible design, the method further includes: the control module obtaining chassis tracking information, and determining the occurrence of the first event based on the chassis tracking information.

[0037] In one possible design, the method further includes: the control module reporting a flag bit to the planning module, where the flag bit is used to indicate the occurrence of the first event.

[0038] In one possible design, the planning module determines that the vehicle has completed parking, and the control module controls the vehicle to complete parking, including: the planning module determines that the vehicle has completed parking based on a flag, and sends a first control instruction to the control module; the control module executes the first control instruction to control the vehicle to complete parking; or, the planning module determines a second parking path, and the control module controls the vehicle to park according to the second parking path, including: the planning module determines the second parking path based on the flag, and sends a second control instruction to the control module; the control module executes the second control instruction to control the vehicle to park according to the second parking path.

[0039] In one possible design, different values ​​of the flag indicate different first event types.

[0040] In one possible design, the planning module determines that the vehicle has completed parking, and the control module controls the vehicle to complete parking, or the planning module determines a second parking path, and the control module controls the vehicle to park according to the second parking path. This includes: if the remaining distance of the first parking path does not exceed a preset distance when the first event occurs, the planning module determines that the vehicle has completed parking, and the control module controls the vehicle to complete parking; or if the remaining distance of the first parking path exceeds the preset distance when the first event occurs, the planning module determines a second parking path, and the control module controls the vehicle to park according to the second parking path.

[0041] In one possible design, the method further includes: the planning module determining a second parking path according to the type of the first event.

[0042] In a third aspect, an intelligent parking device is provided, comprising a module for executing the method described in the second aspect or any possible design of the second aspect.

[0043] For example, the apparatus may include:

[0044] a planning module, configured to determine a first parking path;

[0045] a control module, configured to control the vehicle to park according to a first parking path;

[0046] If the first event occurs, the planning module is further configured to determine that the vehicle has completed parking, and the control module is further configured to control the vehicle to complete parking. Alternatively, the planning module is further configured to determine a second parking path, and the control module is further configured to control the vehicle to park according to the second parking path; wherein the second parking path is different from the first parking path.

[0047] In one possible design, the first event includes: the vehicle is stuck by an obstacle and the vehicle does not start after the driving torque of the vehicle increases to the torque upper limit; or the vehicle collides with an obstacle, causing the speed to reverse; or the vehicle stops prematurely.

[0048] In one possible design, the upper torque limit is positively correlated with the length of the remaining path of the first parking path when the first event occurs.

[0049] In one possible design, the vehicle's starting gear position when parking along the second parking path is different from the vehicle's gear position before the first event occurs; and / or the vehicle's starting driving direction when parking along the second parking path is different from the vehicle's final driving direction before the first event occurs.

[0050] In one possible design, the control module is further configured to obtain chassis tracking information and determine the occurrence of the first event based on the chassis tracking information.

[0051] In one possible design, the control module is also used to report a flag bit to the planning module, where the flag bit is used to indicate the occurrence of the first event.

[0052] In one possible design, the planning module is used to determine that the vehicle has completed parking based on the flag position and send a first control instruction to the control module; the control module is used to execute the first control instruction to control the vehicle to complete parking; or, the planning module is used to determine a second parking path based on the flag position and send a second control instruction to the control module; the control module is used to execute the second control instruction to control the vehicle to park according to the second parking path.

[0053] In one possible design, different values ​​of the flag indicate different first event types.

[0054] In one possible design, if the remaining distance of the first parking path does not exceed a preset distance when the first event occurs, the planning module is used to determine that the vehicle has completed parking, and the control module is used to control the vehicle to complete parking; alternatively, if the remaining distance of the first parking path exceeds the preset distance when the first event occurs, the planning module is used to determine a second parking path, and the control module is used to control the vehicle to park according to the second parking path.

[0055] In a possible design, the planning module is further configured to determine a second parking route according to the type of the first event.

[0056] In a fourth aspect, a processing device is provided, comprising: at least one processor and an interface circuit; the interface circuit is used to receive signals from other devices outside the device and transmit them to the processor or send signals from the processor to other devices outside the device, and the processor is used to implement the method described in the second aspect or any possible design of the second aspect through logic circuits or execution code instructions.

[0057] In a fifth aspect, a terminal device is provided, comprising the apparatus described in the fourth aspect or any possible design of the fourth aspect.

[0058] Optionally, the terminal device is a vehicle.

[0059] In a sixth aspect, a computer-readable storage medium is provided, which is used to store instructions. When the instructions are executed, the method described in the second aspect or any possible design of the second aspect is implemented.

[0060] In a seventh aspect, a computer program product is provided, wherein instructions are stored in the computer program product, which, when executed on a computer, enables the computer to execute the method described in the second aspect or any possible design of the second aspect.

[0061] For the technical effects of the second to seventh aspects mentioned above, please refer to the technical effects that can be achieved by the corresponding designs in the first aspect mentioned above, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] FIG1 is an exemplary functional block diagram of a vehicle provided in an embodiment of the present application;

[0063] FIG2 is a flow chart of an intelligent parking method provided by an embodiment of the present application;

[0064] FIG3 is a flowchart of a parking control method provided by an embodiment of the present application;

[0065] FIG4 is a schematic structural diagram of a processing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0066] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of this application, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula of this application, the character " / " indicates that the previous and next associated objects are in a "division" relationship. "Including at least one of A, B and C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B and C.

[0067] Automatic parking is a fundamental function of intelligent driving. In actual parking scenarios, the ground and surrounding environment are complex and changeable, and the following problems are often encountered:

[0068] 1. When encountering low obstacles (such as bumps, speed bumps, curbs, shallow slopes, potholes, etc.) during parking, the vehicle will simply roll over them, posing a risk of collision, either because the vehicle cannot roll over them or because it overshoots.

[0069] 2. In wheel-block parking scenarios, the decision to complete parking is based solely on the wheel block position provided by the vehicle perception system. Due to errors in the vehicle perception system's recognition of the position of low obstacles, the vehicle may not be able to park properly or may even overrun the wheel block.

[0070] 3. When parking, vehicles are mostly controlled at low speeds. Since there is a certain delay or overshoot in the chassis actuator's response to control commands, if the vehicle brakes to a stop prematurely at the end of the trajectory, it does not conform to the user's driving habits.

[0071] In response to one or more of the above-mentioned technical problems, improving the technical solution of this application can reduce the safety risks of automatic parking of vehicles and improve user experience.

[0072] Referring to FIG1 , which is an exemplary functional block diagram of a vehicle provided in an embodiment of the present application, in some embodiments, the vehicle 100 can be configured for a fully or partially autonomous driving mode. When the vehicle 100 is in the autonomous driving mode, the current state of the vehicle and its surrounding environment can be determined, and the vehicle 100 can be controlled to move or stop based on the determined information. For example, automatic parking is a basic function in the autonomous driving mode. When the vehicle 100 is automatically parking, it can plan a parking path based on the parking end position and the current position of the vehicle and control the vehicle to the end point of the parking path.

[0073] As shown in FIG1 , a vehicle 100 may include a control module 110 and a planning module 120 . In some embodiments, the control module 110 may also be referred to as a control system 110 , and the planning module 120 may also be referred to as a planning system 120 .

[0074] The control module 110 is configured to control the vehicle 100 according to control instructions issued by the planning module 120, for example, to control the vehicle 100 to park according to a first parking path. The control module 110 may also be configured to track the vehicle's status and report any abnormalities (e.g., a first event occurs; the specific manifestations of the first event are described below) to the planning module (e.g., by reporting a flag).

[0075] The planning module 120 is used to plan the driving state of the vehicle, such as planning the parking path of the vehicle. The planning module 120 can also re-plan the vehicle's state when the vehicle is parked abnormally, such as determining to stop parking or determine a new parking path.

[0076] In some embodiments, the control module 110 may specifically include a route control module 111 and an instruction execution tracking module 112. The route control module 111 is configured to control the route of the vehicle 100 according to the control instructions issued by the planning module 120. The instruction execution tracking module 112 is configured to track the execution of the control instructions by the route control module 111. When an abnormality occurs in the execution of the control instructions, the module reports a flag to the planning module 120. The flag is used to indicate the occurrence of a first event or to instruct the planning module 120 to replan the route. It is understood that the instruction execution tracking module 112 may be named in other ways, and this application does not limit this.

[0077] Of course, the control module 110 may also include various other components, such as a steering unit 113, an accelerator 114, a brake unit 115, and other chassis actuators. Specifically, the control module 110 can control the actual driving path of the vehicle 100 through the steering unit 113, the accelerator 114, the brake unit 115, and other chassis actuators. The steering unit 113 can be operated to adjust the forward direction of the vehicle 100. For example, in one embodiment, this can be a steering wheel system. The throttle 114 is used to control the engine speed and, therefore, the speed of the vehicle 100. The brake unit 115 is used to control the deceleration of the vehicle 100.

[0078] In some embodiments, the control module 110 may also include software modules such as a computer vision system 116 and an obstacle avoidance system 137 to assist the control module 110 in controlling the vehicle 100. The computer vision system 116 may be operable to process and analyze images captured by a camera sensor to identify objects and / or features in the environment surrounding the vehicle 100. These objects and / or features may include traffic signs, road boundaries, and obstacles. The obstacle avoidance system 137 is configured to identify, assess, and avoid or otherwise navigate potential obstacles in the environment surrounding the vehicle 100.

[0079] Of course, in other embodiments, the control module 110 may include additional or alternative components other than those shown and described, or may reduce some of the components shown above, which is not specifically limited in this application.

[0080] In some embodiments, the planning module 120 may specifically include at least one processor 121 that executes instructions 1221 stored in a non-transitory computer-readable medium such as a memory 122. The processor 121 can be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor can be a dedicated device such as an application specific integrated circuit (ASIC) or other hardware-based processor. Although Figure 1 functionally illustrates the processor, memory, and other elements of the planning module 120 in the same block, it should be understood by those skilled in the art that the processor, computer, or memory may actually include multiple processors, computers, or memories that may or may not be stored in the same physical housing.

[0081] In some embodiments, memory 122 may contain instructions 1221 (eg, program logic) that may be executed by processor 121 to perform various functions of vehicle 100 , including those described above.

[0082] In addition to the instructions 1221, the memory 122 may also store data such as road maps, route information, the vehicle's location, direction, speed, and other such vehicle data, as well as other information. This information may be used by the vehicle 100 and the planning module 120 during operation of the vehicle 100 in autonomous, semi-autonomous, and / or manual modes.

[0083] The planning module 120 can control functions of the vehicle 100 based on input received from various subsystems (e.g., the control module 110). For example, the planning module 120 can determine that parking is complete or determine a second parking path based on a flag received from the control module 110. In some embodiments, the planning module 120 can operate to provide control over many aspects of the vehicle 100 and its subsystems.

[0084] Alternatively, one or more of the above components may be installed or associated separately from the vehicle 100. For example, the memory 122 may be partially or completely separate from the vehicle 100. The above components may be communicatively coupled together in a wired and / or wireless manner.

[0085] The above components are merely examples. In actual applications, the vehicle 100 may include more, fewer, or different systems (e.g., a sensing system, a power supply, or a user interface), and each system may include more, fewer, or different components. Furthermore, the systems and components shown may be combined or divided in any manner, and this application does not impose any specific limitations thereon.

[0086] The vehicle 100 may be any means of transport, such as a car, truck, motorcycle, bus, ship, airplane, helicopter, lawn mower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, and cart, etc., and the embodiments of the present application do not impose any particular limitation.

[0087] 2 , which is a flowchart of an intelligent parking method according to an embodiment of the present application. The method can be applied to the vehicle 100 shown in FIG. 1 , and includes S201 to S202 .

[0088] S201 : The vehicle 100 parks according to a first parking path.

[0089] For example, the planning module 120 of the vehicle 100 determines a first parking path, where the starting point of the first parking path is the current location of the vehicle 100 and the end point is the parking destination of the vehicle 100 (e.g., a specific parking space). The planning module 120 issues a control instruction to the control module 110, instructing the control module 110 to control the vehicle to park according to the first parking path. The control module 110 executes the instruction, for example, by the steering unit 113 steering, the throttle 114 accelerating, or the brake unit 115 decelerating, so that the vehicle 100 parks according to the first parking path.

[0090] S202: If the first event occurs, the vehicle 100 completes parking or parks according to a second parking path; wherein the second parking path is different from the first parking path.

[0091] The first event occurs when the vehicle 100 is parking along the first parking path, i.e., the vehicle 100 leaves the starting point of the first parking path but has not yet reached the end point of the first parking path. In some embodiments, the control module 110 may obtain chassis tracking information of the vehicle 100 and determine the occurrence of the first event based on the chassis tracking information.

[0092] After the control module 110 detects the occurrence of the first event, it may determine that continuing to park the vehicle along the first parking path presents a safety risk. The control module 110 then generates a flag and reports the flag to the planning module 120. The flag may indicate the occurrence of the first event and / or instruct the planning module 120 to replan the parking path. Of course, the flag described here is merely an example. In actual applications, other forms of information may be used to report content related to the first event, and this application does not limit this.

[0093] After receiving the flag, the planning module 120 replans according to the flag and the remaining path of the vehicle 100 to determine whether the vehicle 100 completes parking or a second parking path, where the second parking path is different from the first parking path.

[0094] Exemplarily, if the remaining distance of the first parking path does not exceed the first distance (indicating that the vehicle 100 is close to the end point) when the first event occurs, the planning module determines that the vehicle 100 can complete parking. For example, if the distance between the vehicle 100 and the parking wheel stop is no more than 10 cm, it means that the vehicle 100 has entered the parking space and can complete parking directly. If the remaining distance of the first parking path exceeds the second distance when the first event occurs, the planning module can replan the parking path, such as the second parking path, based on the current position of the vehicle 100 and the parking end point. For example, if the distance between the vehicle 100 and the parking wheel stop exceeds 1 meter, it means that the vehicle 100 has not yet fully entered the parking space, and there is a safety risk for the vehicle 100 to continue to drive along the original path (the first parking path) (for example, forcibly climbing over an obstacle will cause the vehicle to overshoot), so a new parking path that avoids the obstacle can be planned. It will be understood that the first preset distance and the second preset distance can be the same or different.

[0095] After the planning module 120 determines that the vehicle 100 has completed parking or the second parking path, it issues a control instruction to the control module 110, causing the control module 110 to control the vehicle to complete parking or continue parking according to the second parking path. For example, the planning module 120 sends a first control instruction to the control module 110, which executes the first control instruction and controls the vehicle 100 to complete parking (e.g., the steering unit 113, accelerator 114, and brake unit 115 stop working); or the planning module 120 sends a second control instruction to the control module 110, which executes the second control instruction and controls the vehicle 100 to park according to the second parking path (e.g., the steering unit 113 controls the vehicle 100 to steer, the accelerator 114 controls the vehicle 100 to accelerate, etc.).

[0096] In some embodiments, the second parking path is different from the first parking path, which may specifically mean that the second parking path is different from the remaining path of the first parking path, or the second parking path does not overlap with any section of the first parking path.

[0097] The second parking path is different from the first parking path, which can be reflected in the specific state of vehicle 100, including: the vehicle's starting gear position when the vehicle 100 is parked according to the second parking path is different from the vehicle's gear position before the first event occurs; and / or the vehicle's starting driving direction when the vehicle 100 is parked according to the second parking path is different from the vehicle's final driving direction before the first event occurs.

[0098] For example, when the vehicle 100 is reversing into a parking space, it is initially in reverse gear (R gear) and is moving backward. After the first event occurs, the vehicle 100 is parked according to the second parking path: the vehicle 100 first switches to automatic gear (D gear), moves forward a distance, and then switches to reverse gear and moves backward. The vehicle 100 completes the reversing into the parking space by climbing over or bypassing obstacles.

[0099] Based on the above solution, during the automatic parking process of vehicle 100, when the first event occurs, vehicle 100 completes parking or parks based on a new parking route (i.e., the second parking path), which can effectively avoid the safety risks or slow start parking experience caused by continuing to park according to the original parking route (i.e., the first parking path), and can improve the user experience.

[0100] In the embodiment of the present application, the first event may be any event that causes a safety risk for the vehicle 100 to continue parking along the first parking path, including the following possible events:

[0101] (1) The vehicle 100 is stuck by an obstacle, and the vehicle 100 does not start after the driving torque of the vehicle 100 increases to the torque upper limit;

[0102] After the automatic parking function of vehicle 100 is activated, control module 110 controls vehicle 100 according to the first parking path generated by the planning module. If, during the first parking path, control module 110 detects that vehicle 100 encounters an obstacle (e.g., a bump, speed bump, curb, shallow slope, or pothole detected by computer vision system 116), causing vehicle 100 to become stuck (e.g., instruction execution tracking module 112 detects that vehicle 100's actual speed is zero), control module 110 increases the driving torque of vehicle 100 and attempts to start the vehicle 100 in the original direction of travel, thereby controlling vehicle 100 to continue traveling along the remaining portion of the first parking path. If vehicle 100 still fails to start after the driving torque reaches the torque limit, control module 110 may determine that vehicle 100 has difficulty navigating the obstacle or that continuing to navigate the obstacle presents a safety risk. Specifically, if vehicle 100 continues to follow the first parking path, parking will not be completed and may even present a safety risk.

[0103] In some embodiments, the torque limit may be positively correlated with the length of the remaining path of the first parking path at the time the first event occurs. Generally speaking, the greater the driving torque, the greater the momentum of the vehicle 100 and the greater the distance traveled after overcoming the obstacle. Therefore, when the remaining path is shorter (indicating that the obstacle is closer to the parking destination), the driving torque of the vehicle 100 should be limited to prevent overshoot after overcoming the obstacle, which could lead to safety risks such as overrunning parking wheel chocks, running out of the parking space, or striking other objects.

[0104] In some embodiments, the torque limit can be obtained by looking up a table based on the remaining path. For example, the vehicle 100 may have a pre-set table mapping distance to torque limits. The control module 110 can then query the table based on the current remaining path distance to obtain the torque limit corresponding to the current position. The data in the table is calibrated based on experience and / or actual vehicle testing.

[0105] In this case, when the vehicle 100 is stuck by an obstacle and the driving torque is increased to the torque upper limit but still does not start, the vehicle 100 switches the parking plan (completes parking or switches to a new parking route). Otherwise, the vehicle 100 can try to climb over the obstacle according to the original route, achieving the effect of climbing over low obstacles with no risk as much as possible, climbing over low obstacles with medium risk with caution, and avoiding climbing over low obstacles with high risk, thereby improving the safety factor of automatic parking, reducing the driver's takeover rate and increasing the parking success rate.

[0106] (2) The vehicle 100 collides with an obstacle and experiences a speed reversal;

[0107] After the automatic parking function of the vehicle 100 is activated, the control module 110 controls the vehicle 100 to move according to the first parking path issued by the planning module. If, on the first parking path, the control module 110 detects that the vehicle 100 encounters an obstacle (e.g., a road bump, speed bump, curb, shallow slope, or pothole detected by the computer vision system 116), collides with the obstacle, and causes the vehicle to rebound (e.g., the instruction execution tracking module 112 detects that the actual speed of the vehicle 100 is opposite to the speed controlled by the steering unit 113), resulting in a momentary speed reversal, the control module 110 may determine that it is difficult for the vehicle 100 to climb over the obstacle or that continuing to climb over the obstacle poses a safety risk. In other words, if the vehicle 100 continues to move according to the first parking path, it will not be able to complete parking and may even pose a safety risk.

[0108] In this case, when the vehicle 100 rebounds from a collision, the vehicle 100 switches parking strategies (completes parking or switches to a new parking route), reducing the safety risk of the vehicle 100 directly overcoming obstacles. Furthermore, in some scenarios, automatic gear shifting or direction changes can be implemented if the vehicle 100 does not come to a complete stop after a collision rebound, achieving a more comfortable and user-friendly gear shifting and direction change strategy, which can increase parking speed, eliminate the need for manual control, and improve the parking experience.

[0109] (3) The vehicle 100 stops early.

[0110] After the automatic parking function of the vehicle 100 is activated, the control module 110 controls the vehicle 100 to move according to the first parking path issued by the planning module. If, on the first parking path, the control module 110 detects that the vehicle 100 has stopped prematurely before reaching the parking end point (for example, the instruction execution tracking module 112 detects that the actual speed of the vehicle 100 is 0 but the vehicle 100 has not yet completed the first parking path), the specific reason may be that the obstacle avoidance system 137 identifies a potential obstacle in the environment and stops prematurely to prevent the vehicle 100 from crossing the obstacle. In this case, the control module 110 may determine that there is a safety risk for the vehicle 100, that is, if the vehicle 100 continues to move according to the first parking path, it will not be able to complete parking and may even pose a safety risk.

[0111] In some embodiments, the vehicle 100 stops early by stopping within a predetermined range (e.g., 20 cm) of the parking destination. For example, the instruction execution tracking module 112 detects that the actual speed of the vehicle 100 is 0 and the remaining length of the first parking path is less than 20 cm.

[0112] In this case, the vehicle 100 stops before reaching the parking end point, and the vehicle 100 switches the parking plan (completes parking or switches to a new parking route), avoiding the risk of climbing over obstacles such as wheel chocks at the parking end point; no manual takeover is required, which can enhance the user's experience of using the automatic parking function; in addition, for the remaining path of the first parking path, the control system 110 does not need to continue tracking, which can reduce the closed-loop tracking distance of the control system 110 and save energy.

[0113] In combination with the three events mentioned above, another parking control method is given here as an example, referring to FIG3 , which includes S301 to S305 .

[0114] S301: After the vehicle 100 starts parking, the planning module 120 plans a parking route based on the current position of the vehicle 100 and the surrounding environment;

[0115] S302: The control module 110 tracks the planned route and issues control instructions (such as torque instructions or steering wheel angle instructions) to actuators (such as accelerators and steering wheels). The actuators execute the control instructions to enable the vehicle 100 to park according to the planned route.

[0116] S303. While the vehicle 100 is parking along the planned route, the control module 110 monitors whether the following events occur: (1) the vehicle 100 is stopped by an obstacle, and the vehicle 100 does not start after the driving torque of the vehicle 100 increases to the torque upper limit; (2) the vehicle 100 reverses its speed due to a collision with an obstacle; (3) the vehicle 100 stops prematurely within a preset range at the parking end point.

[0117] If at least one of the above events occurs, execute:

[0118] S304, the control module 110 reports the flag to the planning module 120, and the planning module 120 receives the flag;

[0119] S305, the planning module 120 determines whether the parking completion condition is met based on the current vehicle posture;

[0120] If satisfied, parking is completed;

[0121] If not, the process jumps to step 301 , where the planning module 120 plans a new parking route and repeats the above process until parking is completed.

[0122] It can be understood that the several first events listed above are only examples and not specific limitations. There may be other extensions in actual applications, and this application does not impose any restrictions.

[0123] In some embodiments, vehicle 100 may also determine a second parking path based on the specific type of the first event. For example, if the first event is vehicle 100 being stuck by an obstacle and the vehicle's driving torque increases to a torque limit but the vehicle still fails to start, the higher the torque limit, the more difficult it is for vehicle 100 to overcome the obstacle. In this case, planning module 120 may replan the second parking path based on the torque limit. For example, the higher the torque limit, the greater the deviation between the second parking path and the first parking path. For different types of events, control module 110 may report different flag values ​​to planning module 120, allowing planning module 120 to distinguish the type of the first event. This can further improve parking accuracy and efficiency.

[0124] It can be understood that the above embodiments can be implemented individually or in combination with each other without limitation.

[0125] Based on the same technical concept, an embodiment of the present application further provides a processing device, which may include the control module 110 and / or planning module 120 described above.

[0126] 4 , the processing device includes: at least one processor 401 and an interface circuit 402; the interface circuit 402 is used to receive signals from other devices outside the device and transmit them to the processor 401 or send signals from the processor 401 to other devices outside the device, and the processor 401 is used to implement the method executed by the vehicle 100 above, or to implement the method executed by the control module 110 and / or planning module 120 above, through logic circuits or execution code instructions.

[0127] It should be understood that the processors mentioned in the embodiments of the present application can be implemented by hardware or software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc. When implemented by software, the processor can be a general-purpose processor that is implemented by reading software code stored in a memory.

[0128] Exemplarily, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0129] It should be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DR RAM).

[0130] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) can be integrated into the processor.

[0131] It should be noted that the memory described herein is intended to include, but not be limited to, these and any other suitable types of memory.

[0132] Based on the same technical concept, an embodiment of the present application also provides a terminal device, which can execute the method executed by the above vehicle 100, or execute the method executed by the above control module 110 and / or planning module 120.

[0133] Optionally, the terminal device is a vehicle.

[0134] Based on the same technical concept, an embodiment of the present application also provides a computer-readable storage medium, which is used to store instructions. When the instructions are executed, the method executed by the vehicle 100 as described above is implemented, or the method executed by the control module 110 and / or the planning module 120 as described above is implemented.

[0135] Based on the same technical concept, an embodiment of the present application also provides a computer program product, which stores instructions. When the computer program product is run on a computer, it enables the computer to execute the method executed by the vehicle 100 as described above, or enables the computer to execute the method executed by the control module 110 and / or planning module 120 as described above.

[0136] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0137] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each flow and / or box in the flow chart and / or block diagram, as well as the combination of the flow chart and / or box in the flow chart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more flow charts and / or one or more boxes in the block diagram.

[0138] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0139] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0140] Obviously, those skilled in the art may make various modifications and variations to this application without departing from the scope of protection of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. An intelligent parking method, characterized in that: The method comprises: The vehicle is parked according to the first parking path; If the first event occurs, the vehicle completes parking or parks according to a second parking path; wherein the second parking path is different from the first parking path.

2. The method according to claim 1, characterized in that The first event includes: The vehicle is stuck by an obstacle, and the vehicle still does not start after the driving torque of the vehicle increases to the torque upper limit; or, The vehicle collides with an obstacle and the speed is reversed; or, The vehicle stops early.

3. The method according to claim 2, characterized in that The upper torque limit is positively correlated with a length of a remaining path of the first parking path when the first event occurs.

4. The method according to any one of claims 1 to 3, characterized in that: The initial gear position of the vehicle when the vehicle is parked according to the second parking path is different from the gear position of the vehicle before the first event occurs; and / or, When the vehicle is parked according to the second parking path, the initial driving direction of the vehicle is different from the final driving direction of the vehicle before the first event occurs.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: The vehicle acquires chassis tracking information, and determines the occurrence of the first event according to the chassis tracking information.

6. The method according to claim 5, characterized in that The vehicle acquires chassis tracking information, and determines the occurrence of the first event according to the chassis tracking information, including: The control module of the vehicle acquires chassis tracking information, and determines the occurrence of the first event according to the chassis tracking information; The method further comprises: The control module of the vehicle reports a flag bit to the planning module of the vehicle, where the flag bit is used to indicate that the first event occurs.

7. The method according to claim 6, characterized in that The vehicle completes parking or parks according to a second parking path, including: The planning module of the vehicle receives the flag from the control module, and determines the completion of parking or determines the second planned path according to the flag; The planning module sends a control instruction to the control module, and the control module receives the control instruction and completes parking according to the control instruction or parks according to the second parking path.

8. The method according to claim 7, characterized in that When the flag bit takes different values, it indicates different first event types.

9. The method according to any one of claims 1 to 8, characterized in that The vehicle completes parking or parks according to a second parking path, including: If the remaining distance of the first parking path does not exceed a preset distance when the first event occurs, the vehicle completes parking; or, If the remaining distance of the first parking path exceeds the preset distance when the first event occurs, the vehicle Parking on the second parking path.

10. The method according to any one of claims 1 to 9, characterized in that: The method further comprises: The vehicle determines the second parking path according to a type of the first event.

11. An intelligent parking method, characterized in that: include: The planning module determines a first parking path; The control module controls the vehicle to park according to the first parking path; If a first event occurs, the planning module determines that the vehicle has completed parking, and the control module controls the vehicle to complete parking; or, the planning module determines a second parking path, and the control module controls the vehicle to park according to the second parking path, and the second parking path is different from the first parking path.

12. The method according to claim 11, characterized in that The first event includes: The vehicle is stuck by an obstacle, and the vehicle still does not start after the driving torque of the vehicle increases to the torque upper limit; or, The vehicle collides with an obstacle and the speed is reversed; or, The vehicle stops early.

13. The method according to claim 12, characterized in that The torque upper limit is positively correlated with a length of a remaining path of the first parking path when the first event occurs.

14. The method according to any one of claims 11 to 13, characterized in that: The initial gear position of the vehicle when the vehicle is parked according to the second parking path is different from the gear position of the vehicle before the first event occurs; and / or, When the vehicle is parked according to the second parking path, the initial driving direction of the vehicle is different from the final driving direction of the vehicle before the first event occurs.

15. The method according to any one of claims 11 to 14, characterized in that: The method further comprises: The control module acquires chassis tracking information, and determines the occurrence of the first event according to the chassis tracking information.

16. The method according to claim 15, characterized in that The method further comprises: The control module reports a flag bit to the planning module, where the flag bit is used to indicate that the first event occurs.

17. The method according to claim 16, characterized in that The planning module determines that the vehicle has completed parking, and the control module controls the vehicle to complete parking, including: the planning module determines that the vehicle has completed parking according to the flag, and sends a first control instruction to the control module; the control module executes the first control instruction to control the vehicle to complete parking; or, The planning module determines a second parking path, and the control module controls the vehicle to park according to the second parking path, including: the planning module determines the second parking path according to the flag position, and sends a second control instruction to the control module; the control module executes the second control instruction, and controls the vehicle to park according to the second parking path.

18. The method according to claim 17, characterized in that When the flag bit takes different values, it indicates different first event types.

19. The method according to any one of claims 11 to 18, characterized in that: The planning module determines that the vehicle completes parking, and the control module controls the vehicle to complete parking, or the planning module determines a second parking path, and the control module controls the vehicle to park according to the second parking path, including: If the remaining distance of the first parking path does not exceed a preset distance when the first event occurs, the planning module determines that the vehicle has completed parking, and the control module controls the vehicle to complete parking; or, If the remaining distance of the first parking path exceeds the preset distance when the first event occurs, the planning module determines A second parking path is determined, and the control module controls the vehicle to park according to the second parking path.

20. The method according to any one of claims 11 to 19, characterized in that: The method further comprises: The planning module determines the second parking path according to the type of the first event.

21. An intelligent parking device, characterized in that: include: A planning module, for determining a first parking path; A control module, used for controlling the vehicle to park according to the first parking path; If the first event occurs, the planning module is further used to determine that the vehicle completes parking, and the control module is further used to control the vehicle to complete parking, or the planning module is further used to determine a second parking path, and the control module is further used to control the vehicle to park according to the second parking path; wherein the second parking path is different from the first parking path.

22. A processing device, characterized in that: include: at least one processor and interface circuitry; The interface circuit is used to receive signals from other devices outside the device and transmit them to the processor or send signals from the processor to other devices outside the device. The processor implements the method as described in any one of claims 11-20 through logic circuits or executing code instructions.

23. A terminal device, characterized in that: Comprising a processing device as claimed in claim 22.

24. A computer-readable storage medium, characterized in that: The readable storage medium is used to store instructions, and when the instructions are executed, the method according to any one of claims 11 to 20 is implemented.

25. A computer program product, characterized in that The computer program product stores instructions, and when the computer program product is run on a computer, the computer is caused to execute the method according to any one of claims 11 to 20.

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