Vehicle control method, electronic equipment and vehicle

Abstract

The invention relates to the technical field of vehicle control, and provides a vehicle control method, electronic equipment and a vehicle, and the method comprises the steps: determining that vehicle driving information meets a preset parking condition, and outputting parking prompt information; feedback information corresponding to the parking prompt information is received, a target parking type contained in the feedback information is obtained, and the target parking type comprises a first parking type or a second parking type; vehicle position information and a steering wheel angle are obtained, a target control strategy is determined based on the target parking type according to the vehicle position information and the steering wheel angle, and vehicle parking is controlled according to the target control strategy. In the parking process, different control strategies are determined according to the vehicle position and the steering wheel angle, the phenomenon that the side faces of the tires rub the road shoulders in the road shoulder parking process is reduced as much as possible, tire side abrasion or scratching is avoided, tire damage caused by road shoulder parking is avoided, and the service life of the tires is prolonged. The driving safety is improved, and the potential safety hazard is reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and in particular to a vehicle control method, electronic equipment, and a vehicle. Background Art

[0002] With the rapid development of vehicle technology, vehicles have become an important means of transportation in people's daily lives. As parking resources in modern cities are becoming increasingly scarce, more and more car owners park their vehicles on the shoulder of the road when they arrive at their destination, especially on narrow roads.

[0003] However, when a vehicle chooses to park on the shoulder of the road, it is easy for the side of the tire to rub against the shoulder, causing the side of the tire to be worn or scratched, which in turn makes the vehicle prone to tire damage or increases the chance of a tire blowout during subsequent use, posing a safety hazard. Summary of the Invention

[0004] In view of this, the purpose of the present disclosure is to propose a vehicle control method, electronic equipment and vehicle to solve the problem that when a vehicle currently chooses to park on the shoulder of the road, the sidewalls of the tires are easily worn or scratched due to friction between the sidewalls of the tires and the shoulder of the road, which in turn makes the vehicle prone to tire damage or increases the chance of tire blowouts in subsequent use, posing a safety hazard.

[0005] Based on the above objectives, a first aspect of the present disclosure provides a vehicle control method, the method comprising:

[0006] Determining that the vehicle's driving information meets the preset parking conditions and outputting parking prompt information;

[0007] receiving feedback information corresponding to the parking prompt information, and obtaining a target parking type contained in the feedback information, wherein the target parking type includes a first parking type or a second parking type;

[0008] Vehicle position information and a steering wheel angle are obtained, a target control strategy is determined based on the target parking type according to the vehicle position information and the steering wheel angle, and the vehicle parking is controlled according to the target control strategy.

[0009] Based on the same inventive concept, a second aspect of the present disclosure provides a vehicle control device, comprising:

[0010] a prompt module configured to determine that the vehicle driving information meets the preset parking conditions and output parking prompt information;

[0011] a parking type determination module configured to receive feedback information corresponding to the parking prompt information and obtain a target parking type contained in the feedback information, wherein the target parking type includes a first parking type or a second parking type;

[0012] The parking control module is configured to obtain vehicle position information and a steering wheel angle, determine a target control strategy based on the target parking type according to the vehicle position information and the steering wheel angle, and control the vehicle parking according to the target control strategy.

[0013] Based on the same inventive concept, the third aspect of the present disclosure proposes an electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable by the processor, wherein the processor implements the vehicle control method as described above when executing the computer program.

[0014] Based on the same inventive concept, a fourth aspect of the present disclosure proposes a non-transitory computer-readable storage medium, which stores computer instructions for causing a computer to execute the vehicle control method as described above.

[0015] Based on the same inventive concept, the fifth aspect of the present disclosure provides a vehicle, comprising the vehicle control device described in the second aspect, the electronic device described in the third aspect, or the storage medium described in the fourth aspect.

[0016] As can be seen from the foregoing, the present disclosure provides a vehicle control method, electronic device, and vehicle. Upon determining that vehicle driving information meets preset parking conditions, indicating that the user may have a need for shoulder parking, the method outputs parking prompt information to determine whether the user requires shoulder parking and whether assistance is required for shoulder parking. The method then receives feedback information corresponding to the parking prompt information and obtains a target parking type contained in the feedback information. The target parking type is specifically categorized as a first parking type and a second parking type. The first parking type indicates that the driver still controls the vehicle, with the vehicle-mounted computer system providing assistance. The second parking type indicates that shoulder parking is performed autonomously by the vehicle-mounted computer system. Based on the user-selected parking type, a target control strategy is determined based on the acquired vehicle position information and steering wheel angle. The vehicle is then controlled to complete shoulder parking according to the target control strategy. Specifically, during shoulder parking, the method provides the user with two different parking types to choose from: the user can select the first parking type or have the vehicle-mounted computer automatically perform parking, thereby meeting the needs of different users. At the same time, during the parking process, different control strategies are determined based on the vehicle position and steering wheel angle to minimize the occurrence of scratches between the tire side and the shoulder during parking on the shoulder, avoiding tire sidewall wear or scratches, and thus avoiding tire damage caused by parking on the shoulder, which increases the risk of subsequent tire blowouts, thereby improving driving safety and reducing safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present disclosure;

[0019] Figure 2 is a schematic diagram of a target contact angle according to an embodiment of the present disclosure;

[0020] Figure 3 is a schematic diagram of a target contact angle according to another embodiment of the present disclosure;

[0021] Figure 4 A schematic diagram of a target parking path planning according to an embodiment of the present disclosure;

[0022] Figure 5 A schematic diagram of a target parking path planning according to another embodiment of the present disclosure;

[0023] Figure 6 This is a flow chart of a vehicle control method according to another embodiment of the present disclosure;

[0024] Figure 7 A schematic diagram of an intelligent roadside parking system according to an embodiment of the present disclosure;

[0025] Figure 8 is a structural block diagram of a vehicle control device according to an embodiment of the present disclosure;

[0026] Figure 9 Schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0028] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should have the usual meanings understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the described object changes, the relative position relationship may also change accordingly.

[0029] The terms used in this disclosure are explained as follows:

[0030] ECU: An ECU (Electronic Control Unit), also known as a car's "on-board computer," controls the vehicle's driving state and various functions. It primarily uses data collection and exchange between various sensors and buses to determine vehicle status and the driver's intentions, and controls the vehicle through actuators.

[0031] ADAS: ADAS (Advanced Driving Assistance System) uses a variety of sensors installed on the car (millimeter wave radar, lidar, monocular / binocular cameras and satellite navigation) to sense the surrounding environment at any time while the car is driving, collect data, identify, detect and track static and dynamic objects, and combine it with navigation map data to perform systematic calculations and analysis, so as to allow the driver to be aware of possible dangers in advance, effectively increasing the comfort and safety of car driving.

[0032] K&C Testing: Kinematic and Compliance Characterization (K&C) testing is a specialized form of suspension system testing that involves applying actual loads and displacements to the vehicle chassis and tires. The purpose of K&C testing is to determine the geometry and stiffness characteristics of the vehicle suspension system under quasi-static conditions.

[0033] With the rapid development of vehicle technology, vehicles have become an important means of transportation in people's daily lives. As parking resources in modern cities are becoming increasingly scarce, more and more car owners park their vehicles on the shoulder of the road when they arrive at their destination, especially on narrow roads.

[0034] When a vehicle enters / exits the shoulder sideways, if the tire turning angle is too small, it will cause friction between the sidewall and the shoulder, causing wear or scratches on the sidewall of the tire, making the vehicle prone to tire damage or increasing the chance of a tire blowout during subsequent use.

[0035] At the same time, sidewall damage is more harmful to the tire and is difficult to repair. The general method is to replace the tire, which increases the loss of the car owner.

[0036] That is to say, when a vehicle chooses to park on the shoulder of the road, it is easy for the tire side to rub against the shoulder, causing the tire side to be worn or scratched, which in turn makes the vehicle prone to tire damage or increases the probability of tire blowout in subsequent use, posing a safety hazard. Therefore, this embodiment proposes a vehicle control method, such as Figure 1 As shown, the method includes:

[0037] Step 101: Determine whether the vehicle driving information meets the preset parking conditions and output parking prompt information.

[0038] In a specific implementation, vehicle driving information is obtained, including vehicle speed, location, and steering angle. The vehicle driving information is compared with preset parking conditions. If the vehicle driving information meets the preset parking conditions, indicating that the user intends to park on the shoulder, a parking prompt is output. The parking prompt indicates whether the user intends to park on the shoulder, whether assistance is required, and, if assistance is required, whether parking will be fully controlled by the vehicle computer or only provide assistance to the user.

[0039] In this example, the shoulder refers to a strip of road extending from the outer edge of the roadway to the edge of the roadbed, and includes both hard shoulders and protective shoulders. The shoulder maintains the function of the roadway, allows for temporary parking, and provides lateral support for the road surface.

[0040] In this embodiment, the parking reminder information includes at least one of the following content formats: voice, text, image, video, and rich text. The parking reminder information includes at least one of the following prompting methods: voice announcement, head-up display (HUD), instrument display, central control screen display, window display, and in-vehicle device linkage. The HUD display is a heads-up display. Exemplarily, if the parking reminder information is displayed as a HUD, the parking reminder information is projected in front of the user. The feedback information includes at least one of the following input methods: voice input, virtual key input, or physical key input.

[0041] For example, the parking reminder information is in the form of text and is displayed on the central control screen. The central control screen then displays a message prompting the user whether shoulder parking is required, whether assistance is needed, and a text description of the specific assistance provided. Furthermore, a virtual button may be displayed on the central control screen, allowing the user to enter feedback by clicking the virtual button.

[0042] In this embodiment, the preset parking conditions are as follows:

[0043] Obtain information such as vehicle speed, vehicle position, and vehicle steering angle, and determine the following conditions based on the vehicle speed, vehicle position, and vehicle steering angle:

[0044] Determine whether the vehicle speed is less than a preset speed threshold, illustratively, the preset speed threshold is 15km / h. Determine whether there is a place on the shoulder side where the vehicle can park. Predict the vehicle's driving trajectory to determine whether there is an intention to turn toward the shoulder, or whether it will collide with the shoulder within a preset time while driving along the predicted trajectory. When approaching the shoulder, determine whether there is a characteristic operation of parking close to the shoulder. The characteristic operation of parking close to the shoulder indicates that the user has the intention to park close to the shoulder, that is, the user wants to park close to the shoulder rather than climbing the shoulder or parking above the shoulder. Exemplarily, the characteristic operation of parking close to the shoulder is the behavior of turning inward first and then turning outward, or continuously turning in the opposite direction by reversing.

[0045] In this embodiment, if the vehicle speed satisfies the condition that it is less than a preset speed threshold and there is a parking space available for the vehicle on the shoulder side, it indicates that the user may intend to park on the shoulder, and a parking prompt message may be output.

[0046] In this embodiment, the vehicle's driving trajectory is predicted. If there is an intention to turn toward the roadside and there is no characteristic operation of parking close to the roadside, it means that the user has an intention to park on the roadside, that is, the user needs to climb the roadside and wants to park the vehicle above the roadside rather than close to the roadside. Parking prompt information can be output.

[0047] In this embodiment, it is also possible to determine whether the driver starts braking and slowing down by judging whether the road ahead is open and unobstructed, and to combine the above judgment conditions to determine whether the user intends to park on the shoulder.

[0048] It is understandable that if there is no space for the vehicle to park on the shoulder of the road, a prompt message will be sent to the user to indicate that parking is not possible here, and no parking prompt message will be output.

[0049] In this embodiment, a third-party platform can also be connected to determine whether there is a risk of being ticketed in non-parking spaces on the current road section. If so, the driver is reminded to park in a parking space or guided to park on the shoulder of the road.

[0050] Step 102 : receiving feedback information corresponding to the parking prompt information, and obtaining a target parking type contained in the feedback information, wherein the target parking type includes a first parking type or a second parking type.

[0051] In specific implementations, after receiving a parking prompt, the driver inputs feedback information corresponding to the parking prompt. The feedback information includes confirmation of whether the first parking type is required, and if so, the specific parking type. The target parking type is specifically divided into a first parking type and a second parking type. The first parking type is assisted parking, meaning the driver still controls the vehicle with assistance from the vehicle computer system. The second parking type is automatic parking, meaning the vehicle computer system automatically controls the vehicle for shoulder parking.

[0052] For example, if the user selects the first parking type, the roadside entry / exit parking assistance system is activated, that is, the driver still controls the vehicle, and the vehicle computer only assists in parking and does not intervene in the control.

[0053] As another example, if the user selects the second parking type, the vehicle is completely taken over by the vehicle system and is controlled by the vehicle system until the parking is completed.

[0054] It is understood that when the user selects the second parking type, to further confirm that the driver agrees to have the vehicle system take over the vehicle, the driver will be required to complete the corresponding operation, activate the system, and take over the vehicle. For example, when the second parking type is selected, the driver is required to press the brake pedal. If the driver completes this action, the system will be activated and take over the vehicle.

[0055] Step 103 : Acquire vehicle position information and steering wheel angle, determine a target control strategy based on the target parking type according to the vehicle position information and the steering wheel angle, and control the vehicle parking according to the target control strategy.

[0056] During specific implementation, vehicle position information and steering wheel angle are obtained, wherein the vehicle position information can be used to identify the vehicle's position and surrounding environment through the vehicle ADAS system.

[0057] For example, the front and side cameras are used to predict the position of the vehicle tires to obtain vehicle position information. At the same time, the position can also be updated through surrounding landmarks (kerbstone gaps, pillars, tree positions, etc.).

[0058] Based on the target parking type selected by the user, a corresponding target control strategy is determined according to the vehicle position information and the steering wheel angle, and the vehicle parking is controlled according to the target control strategy.

[0059] It is understood that the vehicle control method described in this embodiment can be used not only in scenarios where a vehicle climbs onto a roadside shoulder to park, but also in scenarios where a vehicle climbs onto a surface higher than the current road surface to complete parking. For example, if a vehicle is traveling on a rural dirt road and, to avoid blocking traffic, parks on a higher surface beside the road, the vehicle also needs to climb from the current road to a higher surface, and the vehicle control method described in this embodiment can be used to perform this operation.

[0060] Through the above scheme, it is determined that the vehicle's driving information meets the preset parking conditions, indicating that the user may need to park on the shoulder. Therefore, parking prompt information is output to determine whether the user needs to park on the shoulder and whether assistance is required. Feedback information corresponding to the parking prompt information is received, and a target parking type contained in the feedback information is obtained. The target parking type is specifically categorized as a first parking type and a second parking type. The first parking type indicates that the driver still controls the vehicle, with the vehicle-mounted computer system providing assistance. The second parking type indicates that the vehicle-mounted computer system independently controls the vehicle for parking on the shoulder. Based on the user-selected parking type, a target control strategy is determined based on the acquired vehicle position information and steering wheel angle. The vehicle is then controlled to complete shoulder parking based on the target control strategy. In other words, during shoulder parking, the user is provided with two different parking types to choose from. The user can choose the first parking type or have the vehicle-mounted computer automatically perform parking, meeting the needs of different users. At the same time, during the parking process, different control strategies are determined based on the vehicle position and steering wheel angle to minimize the occurrence of scratches between the tire side and the shoulder during parking on the shoulder, avoiding tire sidewall wear or scratches, and thus avoiding tire damage caused by parking on the shoulder, which increases the risk of subsequent tire blowouts, thereby improving driving safety and reducing safety hazards.

[0061] In some embodiments, when the user selects the first parking type, the vehicle computer only assists in parking and does not intervene in control. That is, the vehicle computer only outputs corresponding prompt information to assist the user in completing shoulder parking. That is, in step 103, the target control strategy is determined based on the target parking type according to the vehicle position information and the steering wheel angle, specifically including:

[0062] Step 1031 , in response to the target parking type being the first parking type, determining a wheel angle according to the steering wheel angle;

[0063] Step 1032: Obtain a relative angle between the vehicle body and the road shoulder, and determine a target contact angle based on the relative angle and the wheel turning angle, wherein the target contact angle is the angle between the tire contact surface of the vehicle tire closest to the road shoulder and the road shoulder;

[0064] Step 1033 : In response to the target contact angle being less than a preset contact angle threshold, target prompt information is determined according to the vehicle position information, and the target control strategy is determined to output the target prompt information.

[0065] In a specific implementation, when it is determined that the target parking type selected by the user is the first parking type, the wheel angle is determined based on the steering wheel angle. Specifically, a relationship curve between the steering wheel angle and the wheel angle can be extracted based on the K&C test results during the vehicle design phase, and then the wheel angle corresponding to the steering wheel angle can be found based on the relationship curve.

[0066] In this embodiment, after the wheel angle is determined, the wheel angle, vehicle position, and surrounding environment can be projected onto the vehicle's screen. For example, the vehicle's central control screen can display the real-time wheel angle, the vehicle's position on the curb, the vehicle's surrounding environment, and the positional relationship between the vehicle and the curb. This helps the user accurately determine the vehicle's position when maneuvering the vehicle for curb parking.

[0067] Obtain the relative angle between the vehicle body and the road shoulder, where the relative angle represents the angle between a line corresponding to the vehicle body and a line corresponding to the road shoulder. If the relative angle is zero, the vehicle body and the road shoulder are parallel.

[0068] The target contact angle is determined based on the relative angle and the wheel turning angle. Since the tire of the vehicle closest to the roadside is the first to contact the roadside when parking on the roadside, the target contact angle is determined as the angle between the tire contact surface of the vehicle tire closest to the roadside and the roadside.

[0069] If the target contact angle is less than the preset contact angle threshold, continuing to climb the shoulder could easily lead to tire damage caused by friction with the shoulder. A target prompt is determined based on the real-time vehicle position information. This target prompt informs the user that the contact angle between the vehicle's tire and the shoulder is too small, potentially causing side scratches, and provides a corresponding solution. In this case, the target control strategy outputs the target prompt determined based on the vehicle's position information.

[0070] Through the above scheme, when the angle between the tire contact surface and the road shoulder is small, the target prompt information is output to remind the user that the contact angle between the vehicle tire and the road shoulder is too small, which may easily cause the tire side to scratch. This avoids the user's weak perception of the angle and the continued driving that causes the tire side to scratch the road shoulder.

[0071] In some embodiments, if the target contact angle is greater than or equal to a preset contact angle threshold, continued driving up the curb will prevent tire damage from friction with the curb. The vehicle's speed is acquired in real time. If the speed exceeds a preset threshold, a reminder is sent to the driver, suggesting they reduce speed. This prevents excessive impact forces when the vehicle contacts the curb, potentially damaging vehicle parts.

[0072] In some embodiments, determining the target contact angle according to the relative angle and the wheel angle in step 1032 includes:

[0073] Step 10321: In response to the relative angle being less than or equal to a preset relative angle threshold, determining the target contact angle to be the wheel angle; or

[0074] Step 10322: In response to the relative angle being greater than a preset relative angle threshold, the relative angle and the wheel angle are added together to obtain a target contact angle.

[0075] In specific implementations, the relative angle between the vehicle body and the roadside is obtained and compared with a preset relative angle threshold. If the relative angle is less than or equal to the preset relative angle threshold, the vehicle body and the roadside are considered parallel. At this point, the angle between the contact patch of the vehicle tire closest to the roadside and the roadside is the same as the wheel angle. Therefore, the target contact angle is the wheel angle.

[0076] For example, Figure 2 As shown, the vehicle body is parallel to the road shoulder, and the vehicle tire closest to the road shoulder is the right front wheel of the vehicle. At this time, the angle between the tire contact surface of the right front wheel of the vehicle and the road shoulder is the wheel turning angle of the right front wheel of the vehicle.

[0077] If the relative angle is greater than the preset relative angle threshold, there is already a certain angle between the vehicle body and the roadside, which is the relative angle. The angle between the tire contact surface of the vehicle tire closest to the roadside and the roadside is the sum of the relative angle and the wheel angle. The target contact angle is calculated by summing the relative angle and the wheel angle.

[0078] For example, Figure 3 As shown, there is a certain angle between the vehicle body and the road shoulder, that is, the relative angle. The vehicle tire closest to the road shoulder is the right front wheel of the vehicle. At this time, the angle between the tire contact surface of the right front wheel of the vehicle and the road shoulder is the sum of the wheel turning angle of the right front wheel of the vehicle and the relative angle.

[0079] In this embodiment, in order to improve the accuracy of the target contact angle, the preset relative angle threshold is preferably zero.

[0080] Through the above scheme, when determining the target contact angle, in addition to considering the wheel angle, the relative angle between the vehicle body and the road shoulder is also comprehensively considered, making the determination of the target contact angle more accurate, and thus making the subsequent judgment on whether to output the target prompt information more accurate.

[0081] In some embodiments, when the contact angle between the tire contact surface of the vehicle tire closest to the roadside shoulder and the roadside shoulder is small, a specific solution may be determined based on the distance between the tire and the roadside shoulder. That is, in step 1033, in response to the target contact angle being less than a preset contact angle threshold, target prompt information is determined based on the vehicle position information, specifically including:

[0082] Step 10331: In response to the target contact angle being less than a preset contact angle threshold, determining a first distance between a first target tire and a road shoulder based on the vehicle position information, wherein the first target tire is the vehicle tire closest to the road shoulder;

[0083] Step 10332: In response to the first distance being less than a first preset distance threshold, determining that the target prompt information is first prompt information, wherein the first prompt information is used to prompt that the vehicle is too close to the road shoulder and needs to re-enter the road shoulder; or

[0084] Step 10333: In response to the first distance being greater than or equal to a first preset distance threshold, determining that the target prompt information is second prompt information, wherein the second prompt information is used to prompt that the steering wheel angle needs to be increased before continuing parking.

[0085] In a specific implementation, if the target contact angle is less than a preset contact angle threshold, it indicates that the contact angle between the tire contact surface of the vehicle tire closest to the roadside shoulder and the roadside shoulder is small. Vehicle position information is determined, and a first distance between a first target tire and the roadside shoulder is determined based on the vehicle position information. The first target tire is the vehicle tire closest to the roadside shoulder.

[0086] If the first distance is less than the preset distance threshold, the distance between the tires of the vehicle closest to the shoulder and the shoulder is too close to the shoulder. Directly climbing the shoulder by adjusting the wheel angle is not feasible for parking. The only option is to reverse and then adjust the steering wheel angle to re-enter the shoulder. In this case, the target prompt information is the first prompt information, which indicates that the vehicle is too close to the shoulder and needs to re-enter the shoulder.

[0087] For example, the preset contact angle threshold is 25 degrees, the preset distance threshold is 5 meters, and the first target tire is the right front wheel. If the target contact angle is 20 degrees and the right front wheel is 3 meters from the curb, a first prompt message will be output. The first prompt message states that the angle between the right front wheel's tire contact surface and the curb is small, and the distance to the curb is too close. Continuing to drive may cause the tire side to scrape against the curb. The user is advised to reverse, turn the steering wheel, and re-enter the curb.

[0088] If the first distance is greater than or equal to the preset distance threshold, it indicates that there is sufficient distance between the tire closest to the roadside shoulder and the shoulder. The vehicle can increase the wheel steering angle to increase the contact angle between the first target tire and the shoulder, thereby directly climbing the shoulder and completing parking. The target prompt information is now the second prompt information, which indicates that the steering wheel angle needs to be increased before parking can continue.

[0089] For example, the preset contact angle threshold is 25 degrees, the preset distance threshold is 5 meters, and the first target tire is the right front wheel. If the target contact angle is 20 degrees and the right front wheel is 15 meters from the curb, a second prompt message will be output, indicating that the angle between the right front wheel's tire contact surface and the curb is small, but there is still some distance to the curb. It is recommended to increase the steering wheel angle and continue driving to complete parking.

[0090] In this embodiment, the preset contact angle threshold can be dynamically adjusted based on the width of the road shoulder where the vehicle is parked. That is, the wider the road shoulder width, the larger the corresponding preset contact angle threshold. However, since the vehicle needs to be aligned parallel to the road shoulder when the road shoulder width is wide to facilitate the passage of other vehicles and people, the preset contact angle has an upper limit to facilitate the subsequent alignment control process. For example, the preset contact angle threshold ranges from 25 degrees to 45 degrees. The corresponding target contact angle threshold can be determined within this range based on the road shoulder width. The target contact angle between the tire contact surface of the vehicle tire closest to the road shoulder and the road shoulder is then compared with the target contact angle threshold to determine whether a target prompt message needs to be output to remind the user that the contact angle between the vehicle tire and the road shoulder is too small, which may easily cause tire side scratches.

[0091] Through the above scheme, when the target contact angle is less than the preset contact angle threshold, the corresponding target prompt information is output according to the first distance between the first target tire and the road shoulder, so as to minimize the user's operation and complete the road shoulder parking as soon as possible while ensuring that there is no scratch between the wheel and the road shoulder, thereby improving the user's car experience.

[0092] In some embodiments, when the user selects the second parking type, the vehicle is completely controlled by the vehicle computer system until parking is completed. Therefore, a specific parking path must be determined, and then shoulder parking is completed according to the parking path. That is, in step 103, the target control strategy is determined based on the target parking type, the vehicle position information, and the steering wheel angle, specifically including:

[0093] Step 103A: In response to the target parking type being the second parking type, obtaining a target parking position, and determining a plurality of to-be-determined parking paths based on the vehicle position information, the target parking position, and the steering wheel angle;

[0094] Step 103B: determining the parking duration corresponding to each to-be-determined parking path, and selecting the to-be-determined parking path corresponding to the shortest parking duration as the target parking path;

[0095] Step 103C: Determine that the target control strategy is to control the vehicle to park according to the target parking path.

[0096] In a specific implementation, when the user selects the second parking type, the vehicle is completely taken over by the vehicle computer system and is controlled by the vehicle computer system until the parking is completed. A target parking position is obtained, where the target parking position is the position of the vehicle when the parking is completed.

[0097] A plurality of parking paths to be determined are determined based on the vehicle position information, the target parking position, and the steering wheel angle, wherein each of the parking paths to be determined has a starting point at the current vehicle position and an end point at the target parking position, and a wheel angle corresponding to a steering wheel angle.

[0098] The parking duration corresponding to each pending parking path is determined, where the parking duration is the time required to complete parking. The pending parking path corresponding to the shortest parking duration is selected as the target parking path, and the vehicle is controlled to park according to the target parking path.

[0099] In this embodiment, when determining a target parking path from multiple pending parking paths, the driving complexity corresponding to each pending parking path may also be comprehensively considered. Specifically, a pending parking path with a shorter parking duration and lower driving complexity is selected as the target parking path whenever possible. The driving complexity represents the difficulty of maneuvering the vehicle along the pending parking path. It is understood that the more turns, the larger the steering angle, and the more obstacles to avoid, the greater the corresponding driving complexity.

[0100] With the above solution, when the user selects the second parking type, multiple parking paths to be determined are first determined based on information such as the target parking location and the vehicle's current location. Then, the optimal path from the multiple parking paths to be determined is selected as the target parking path, thereby minimizing the parking time and the user's waiting time for parking to be completed, thereby improving the user experience.

[0101] In some embodiments, determining multiple parking paths to be determined based on the vehicle position information, the target parking position, and the steering wheel angle in step 103A specifically includes:

[0102] Step 103A1, determining an initial parking path based on the vehicle position information, the target parking position, and the steering wheel angle;

[0103] Step 103A2: Obstacle information in the vehicle's environment is obtained, and the initial parking path and the obstacle information are input into a pre-trained path planning model. After processing by the path planning model, a plurality of parking paths to be determined are output.

[0104] In specific implementations, an initial parking path is determined based on the Dubins curve, the vehicle position information, the target parking position, and the steering wheel angle. The initial parking path is the shortest path from the vehicle's current position to the target parking position. The Dubins curve is the shortest path connecting two two-dimensional planes (i.e., the XY plane) while satisfying curvature constraints and specified tangent directions at the start and end points, assuming the vehicle can only travel forward on the road.

[0105] Obstacle information in the vehicle's environment is obtained, where the obstacle information includes information about obstacles that hinder the vehicle from completing parking, other than the roadside shoulder that the vehicle needs to climb. Exemplarily, the obstacle includes at least one of the following: other vehicles, streetlights, utility poles, trash cans, green belts, flower beds, etc.

[0106] The initial parking path and obstacle information are fed into a pre-trained path planning model. After processing, the path planning model outputs multiple undetermined parking paths. In other words, the undetermined parking paths are paths that take into account the locations of obstacles that the vehicle will need to pass during parking.

[0107] In this embodiment, the training process of the path planning model specifically includes:

[0108] A training dataset and an initial path planning model are obtained, wherein the training dataset includes historical parking paths, historical obstacle information, and historical undetermined parking paths. Training data from the training dataset is input into the initial path planning model for training. Preset training termination conditions are determined to obtain a path planning model.

[0109] The preset training end condition includes at least one of the following: determining that all data in the training data set are input into the initial path planning model for training, determining that the loss function of the initial path planning model converges to a convergence threshold, or determining that the initial path planning model is iteratively trained to a preset number of iterations.

[0110] Through the above scheme, the initial path planning model is trained using the training data in the training data set until the preset training end conditions are met, thereby obtaining a path planning model. The path planning model can then be used to output a to-be-determined parking path corresponding to the initial parking path and obstacle information, and the to-be-determined parking path can be determined more accurately.

[0111] In some embodiments, obstacle information in the vehicle's environment can also be obtained, and the resultant vector is calculated by the vectors between each obstacle and the vehicle's position information. The path trend with the smallest resultant vector is selected for planning to obtain multiple parking paths to be determined.

[0112] In this embodiment, while the vehicle is automatically controlled to park along the target parking route, if a new obstacle, such as a pedestrian or vehicle, appears in the target parking route, a new target parking route is redefined. The location of the new obstacle is comprehensively considered when determining the new target parking route. The specific method for determining the new target parking route is the same as in the above embodiment and will not be further described here. Furthermore, to avoid user panic, a prompt message may be displayed to inform the user that the parking route is being redefined.

[0113] In some embodiments, when the user selects the second parking type, the vehicle's alignment after parking is completed may be considered when determining the target parking route. The vehicle may be aligned on the shoulder of the road by monitoring the rear wheel position and adjusting the steering wheel angle.

[0114] For example, Figure 4 As shown, if the user selects the second parking type, when the vehicle body is parallel to the road shoulder and there is little space on the road shoulder for the vehicle to adjust, the user can first drive forward onto the road shoulder, and then adjust the steering wheel angle and reverse backward to straighten the vehicle.

[0115] Another example, such as Figure 5 As shown, if the user selects the second parking type, when the vehicle body and the road shoulder are at a relative angle, that is, the vehicle body and the road shoulder are not parallel, the vehicle can be straightened while driving into the road shoulder.

[0116] In some embodiments, when parking is completed, the parking route may be stored. When the vehicle arrives at the location again next time, if the surrounding environment has not changed, parking may be performed directly according to the parking route. That is, after step 103, the following steps may be further included:

[0117] Step 10A, in response to the vehicle parking being completed, obtaining actual parking route and parking environment information, and storing the actual parking route and the parking environment information in correspondence;

[0118] Step 10B, determining that the vehicle is powered on again, obtaining current environment information, and comparing the current environment information with the parking environment information;

[0119] Step 10C: In response to the current environment information being the same as the parking environment information, controlling the vehicle to move away from the road shoulder along the actual parking route.

[0120] In a specific implementation, it is determined that the vehicle parking is completed, and the actual parking route and parking environment information are obtained, wherein the parking environment information includes environmental information during the parking process and surrounding feature points of the target parking position, such as obstacle information.

[0121] The actual parking route, target parking location, and parking environment information are stored accordingly. When the vehicle arrives at the location again next time, if the surrounding environment has not changed, that is, the parking environment information has not changed and there are no new obstacles, etc., parking can be carried out directly according to the actual parking route.

[0122] When the vehicle is powered on and started again, a reminder will be issued through the central control screen, asking the user whether to start the shoulder departure assist or automatic shoulder departure system, that is, to determine whether assistance is needed for departure.

[0123] If the user chooses to use assisted driving, it is also divided into assisted driving and automatic driving. Assisted driving corresponds to the first parking type, and automatic driving corresponds to the second parking type.

[0124] If the user chooses to automatically leave, the current environment information is obtained and compared with the parking environment information. If the current environment information is the same as the parking environment information, the vehicle can directly leave the road shoulder according to the stored actual parking route.

[0125] It is understandable that if the current environmental information is different from the parking environmental information, the departure route still needs to be replanned according to the current environmental information, the current vehicle position, and the target vehicle departure position. The specific method for determining the departure route is the same as the method for determining the target parking route in the aforementioned embodiment and will not be repeated here.

[0126] Through the above solution, when the user needs to leave the roadside, the current environmental information is compared with the environmental information when entering the roadside. If the environmental information has not changed, the user can directly leave the roadside based on the parking situation and parking route when parking on the roadside, reducing additional calculations, shortening the departure time, and improving the user experience.

[0127] In some embodiments, when controlling the vehicle to leave the roadside along the actual parking route, the vehicle speed needs to be controlled to prevent the tires from descending too quickly, causing the wheels to skip too much and causing the bottom parts to be supported. That is, in step 10C, controlling the vehicle to leave the roadside along the actual parking route specifically includes:

[0128] Step 10C1, taking the vehicle tire closest to the roadside shoulder when parking is completed as the second target tire, and obtaining a second distance between the second target tire and the roadside shoulder;

[0129] Step 10C2: In response to the second distance being less than a second preset distance threshold, controlling the vehicle speed to decrease to a preset speed threshold, and controlling the vehicle to drive off the road shoulder along the actual parking route at the preset speed threshold.

[0130] In a specific implementation, the vehicle tire closest to the road shoulder when parking is completed is used as the second target tire, a second distance between the second target tire and the road shoulder is obtained, and the second distance is compared with a second preset distance threshold.

[0131] If the second distance is less than a second preset distance threshold, the vehicle speed is controlled to be reduced to a preset speed threshold, and the vehicle is controlled to leave the road shoulder along the actual parking route at the preset speed threshold.

[0132] For example, when parking is complete, the left rear wheel is the closest tire to the roadside, and a second distance between the left rear wheel and the roadside is determined. When the left rear wheel is less than 20 cm from the roadside, the vehicle speed is controlled to decrease to 10 km / h, and the vehicle is driven off the roadside at a speed of 10 km / h.

[0133] Through the above solution, when the vehicle leaves the road shoulder, the vehicle is controlled to leave at a lower speed so that the tires slowly move out of the road shoulder, preventing the wheels from skipping too much due to the tires descending too quickly, causing the bottom parts to bottom out.

[0134] In some embodiments, if the user selects the second parking type or automatic exit, in some embodiments, the vehicle's surroundings will be monitored during shoulder parking or exiting, whether using assisted or fully automated control. If a pedestrian, moving vehicle, or animal is detected within a preset distance from the vehicle, an alarm will automatically sound, alerting the driver and notifying pedestrians outside the vehicle.

[0135] In some embodiments, the second parking type is automatically exited and the vehicle automatically drives away if the following conditions occur:

[0136] When parking or driving away is complete, the system automatically exits and notifies the driver to take over. Or if there are moving parts nearby that prevent the parking maneuver from being completed for more than 15 seconds (such as pedestrians or non-motorized vehicles), or if the driver presses the brake pedal or takes over the steering wheel, the system exits and notifies the driver to take over. Or if the parking space on the shoulder is abnormally occupied by other objects or people.

[0137] Based on the same inventive concept, another embodiment of the present disclosure provides a vehicle control method, wherein the target parking type is the second parking type, such as Figure 6 As shown, the method includes:

[0138] Step 601: The driver sets the position for entering the road shoulder.

[0139] Step 602: Activate the automatic shoulder parking system, and the system takes over the vehicle.

[0140] In step 603 , the ADAS determines whether there is any human interference around and whether the vehicle can drive onto the road shoulder at its current position.

[0141] Step 604: If there is human interference, the driver is reminded to evacuate surrounding people or change parking position on the road shoulder.

[0142] Step 605: If the vehicle cannot park on the shoulder at its current position, the driver is prompted to change to a parking position on the shoulder.

[0143] Step 606 : Plan a target parking path for the vehicle, and park the vehicle according to the target parking path.

[0144] Step 607 : When it is determined that the tire is in contact with the road shoulder, braking is increased in real time to keep the vehicle at a lower speed when climbing the road shoulder, and the parking steering angle is adjusted in real time as needed.

[0145] Step 608: Determine in real time whether the vehicle is in the target parking path. If it is, proceed to step 609. If it is not, return to step 606.

[0146] Step 609: Continue driving until the vehicle successfully parks on the shoulder.

[0147] Step 610: Store the final vehicle position information of this parking.

[0148] Step 611: When the driver drives the vehicle again, the vehicle position information is retrieved and the vehicle is controlled to leave the road shoulder.

[0149] Step 612: Record each correct parking route and vehicle status, continuously iterate the parking-on-the-shoulder algorithm, and update the algorithm logic.

[0150] To do this, the driver drives the car to the shoulder of the road, selects the desired shoulder location according to the system prompts, and activates the automatic shoulder parking system. At this point, the system uses sensors and cameras to check the surrounding environment to confirm that there are no obstacles.

[0151] When the system begins to take over steering the vehicle, the driver needs to maintain observation of the vehicle and adjust necessary controls, such as braking or accelerator, according to prompts.

[0152] Based on surrounding information and wheel angle input (calculated via steering wheel angle), the system intelligently plans a parking path onto the curb, determining when both wheels reach the curb and the angle with the curb boundary. It then determines the parking steering angle and adjusts it in real time as needed. During parking, the system keeps the vehicle speed below a set speed limit and applies braking immediately when a wheel contacts the curb, maintaining a lower speed when approaching the curb.

[0153] Through ADAS positioning and vehicle camera marking of surrounding feature points, the final vehicle position information of this parking is stored, and each correct parking route and vehicle status is recorded. The parking algorithm for the shoulder is continuously iterated and the algorithm logic is updated.

[0154] When the driver selects automatic departure through interaction, the wheel position is determined based on the stored vehicle position and ADAS information. Within the first 200mm of each wheel clearing the curb, the vehicle speed is controlled to a lower level, allowing the tires to slowly move off the curb. This prevents excessive wheel jumps caused by excessive tire descent speed, which could lead to bottoming out of components.

[0155] Based on the same inventive concept, another embodiment of the present disclosure provides an intelligent roadside parking system. Figure 7 As shown, the intelligent roadside parking system applies the vehicle control method proposed in any of the above embodiments, and the intelligent roadside parking system specifically includes:

[0156] The main control ECU is used to integrate vehicle resources and coordinate the interaction between various systems. In this technical solution, the main control ECU is the central processing unit (CCU).

[0157] HMI (HUT / IP), a human-machine interaction system, has the main function of interacting with the driver and sending driving operation requests or auxiliary system access requests to the main control ECU.

[0158] The power control system's main function is to control the vehicle's power output when entering or leaving the curb, so that the operation process causes less damage to the tires, specifically for vehicle speed control and torque control.

[0159] The brake control system's primary function is to proactively apply braking force during vehicle entry and exit, preventing the vehicle from falling off the curb and causing driver error. It also assists in controlling vehicle speed.

[0160] The steering control system's main function is to determine the tire angle state when the tire contacts the road shoulder and control it to adjust the vehicle direction, relying on the K&C steering wheel and tire angle curve.

[0161] The main functions of the ADAS system are to scan the surrounding environment and unrelated personnel, provide risk warnings for entering / leaving the road shoulder, and measure the distance between the vehicle and surrounding obstacles.

[0162] It should be noted that the method of the embodiments of the present disclosure can be performed by a single device, such as a computer or server. The method of the embodiments of the present disclosure can also be applied in a distributed scenario, where multiple devices cooperate to perform the method. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiments of the present disclosure, and the multiple devices will interact with each other to complete the method.

[0163] It should be noted that the above description is limited to some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that described in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0164] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure also provides a vehicle control device.

[0165] refer to Figure 8 , Figure 8 A vehicle control device according to an embodiment includes:

[0166] The prompt module 801 is configured to determine whether the vehicle driving information meets the preset parking conditions and output parking prompt information;

[0167] a parking type determination module 802 configured to receive feedback information corresponding to the parking prompt information and obtain a target parking type included in the feedback information, wherein the target parking type includes a first parking type or a second parking type;

[0168] The parking control module 803 is configured to obtain vehicle position information and a steering wheel angle, determine a target control strategy based on the target parking type according to the vehicle position information and the steering wheel angle, and control the vehicle parking according to the target control strategy.

[0169] In some embodiments, the parking control module 803 specifically includes:

[0170] a wheel angle determination unit configured to determine a wheel angle according to the steering wheel angle in response to the target parking type being the first parking type;

[0171] a contact angle determination unit configured to obtain a relative angle between a vehicle body and a road shoulder, and determine a target contact angle based on the relative angle and the wheel turning angle, wherein the target contact angle is an angle between a tire contact surface of a vehicle tire closest to the road shoulder and the road shoulder;

[0172] The strategy determination unit is configured to determine target prompt information according to the vehicle position information in response to the target contact angle being less than a preset contact angle threshold, and determine the target control strategy to output the target prompt information.

[0173] In some embodiments, the contact angle determination unit is specifically configured to:

[0174] In response to the relative angle being less than or equal to a preset relative angle threshold, determining the target contact angle to be the wheel angle; or,

[0175] In response to the relative angle being greater than a preset relative angle threshold, the relative angle and the wheel angle are added together to obtain a target contact angle.

[0176] In some embodiments, the policy determination unit is specifically configured to:

[0177] In response to the target contact angle being less than a preset contact angle threshold, determining a first distance between a first target tire and a road shoulder based on the vehicle position information, wherein the first target tire is a tire of the vehicle closest to the road shoulder;

[0178] In response to the first distance being less than a first preset distance threshold, determining the target prompt information as first prompt information, wherein the first prompt information is used to prompt that the vehicle is too close to the road shoulder and needs to re-enter the road shoulder; or

[0179] In response to the first distance being greater than or equal to a first preset distance threshold, the target prompt information is determined to be second prompt information, wherein the second prompt information is used to prompt that the steering wheel angle needs to be increased before continuing parking.

[0180] In some embodiments, the parking control module 803 is specifically configured to:

[0181] In response to the target parking type being the second parking type, obtaining a target parking position, and determining a plurality of to-be-determined parking paths based on the vehicle position information, the target parking position, and the steering wheel angle;

[0182] Determine the parking duration corresponding to each to-be-determined parking path, and select the to-be-determined parking path corresponding to the shortest parking duration as the target parking path;

[0183] The target control strategy is determined to control the vehicle to park according to the target parking path.

[0184] In some embodiments, the parking control module 803 is specifically configured to:

[0185] determining an initial parking path based on the vehicle position information, the target parking position, and the steering wheel angle;

[0186] Obstacle information in the vehicle's environment is obtained, the initial parking path and the obstacle information are input into a pre-trained path planning model, and after processing by the path planning model, a plurality of parking paths to be determined are output.

[0187] In some embodiments, the apparatus further includes a storage module, wherein the storage module is specifically configured to:

[0188] In response to the completion of parking of the vehicle, obtaining actual parking route and parking environment information, and storing the actual parking route and the parking environment information in correspondence;

[0189] Determining that the vehicle is powered on again, obtaining current environment information, and comparing the current environment information with the parking environment information;

[0190] In response to the current environment information being the same as the parking environment information, the vehicle is controlled to move away from a road shoulder along the actual parking route.

[0191] In some embodiments, the storage module is further configured to:

[0192] The vehicle tire closest to the road shoulder when parking is completed is used as the second target tire, and a second distance between the second target tire and the road shoulder is obtained;

[0193] In response to the second distance being less than a second preset distance threshold, the vehicle speed is controlled to decrease to a preset speed threshold, and the vehicle is controlled to drive away from the road shoulder along the actual parking route at the preset speed threshold.

[0194] For the convenience of description, the above devices are described as being functionally divided into various modules. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0195] The apparatus of the above embodiment is used to implement the corresponding vehicle control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be described in detail here.

[0196] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor, wherein when the processor executes the program, the vehicle control method described in any of the above embodiments is implemented.

[0197] Figure 9 10 is a schematic diagram showing a more specific hardware structure of an electronic device provided in this embodiment. The device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are communicatively connected to each other within the device via the bus 1050.

[0198] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0199] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory 1020 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0200] The input / output interface 1030 is used to connect input / output modules to implement information input and output. The input / output modules can be configured as components within the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. Input devices may include a keyboard, mouse, touch screen, microphone, various sensors, etc., and output devices may include a display, speaker, vibrator, indicator light, etc.

[0201] The communication interface 1040 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via a wired method (such as USB, network cable, etc.) or a wireless method (such as mobile network, WiFi, Bluetooth, etc.).

[0202] The bus 1050 comprises a path for transmitting information between the various components of the device (eg, the processor 1010 , the memory 1020 , the input / output interface 1030 , and the communication interface 1040 ).

[0203] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, it will be understood by those skilled in the art that the above device may only include the components necessary to implement the embodiments of this specification, and does not necessarily include all the components shown in the figure.

[0204] The electronic device of the above embodiment is used to implement the corresponding vehicle control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0205] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle control method described in any of the above embodiments.

[0206] The computer-readable media of this embodiment include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0207] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the vehicle control method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0208] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle, including the vehicle control device in the above-mentioned embodiment, the electronic device in the above-mentioned embodiment, and the computer-readable storage medium in the above-mentioned embodiment, and the vehicle equipment implements the vehicle control method described in any of the above embodiments.

[0209] The vehicle of the above embodiment is used to implement the vehicle control method described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0210] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0211] For example, in response to a user's active request, a prompt message is sent to the user to clearly inform the user that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose whether to provide personal information to the electronic device, application, server, storage medium, or other software or hardware that performs the operation of the disclosed technical solution based on the prompt message.

[0212] As an optional but non-limiting implementation, in response to a user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. Furthermore, the pop-up window may also contain a selection control for the user to select "agree" or "disagree" to provide personal information to the electronic device.

[0213] It is understandable that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0214] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. Within the scope of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0215] In addition, to simplify the description and discussion, and so as not to obscure the embodiments of the present disclosure, known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, devices may be shown in the form of block diagrams to avoid obscuring the embodiments of the present disclosure, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present disclosure are to be implemented (i.e., these details should be fully within the purview of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it will be apparent to those skilled in the art that the embodiments of the present disclosure may be implemented without these specific details or with variations in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0216] Although the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art based on the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0217] The embodiments of the present disclosure are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A vehicle control method, characterized in that: include: Determining that the vehicle's driving information meets the preset parking conditions and outputting parking prompt information; receiving feedback information corresponding to the parking prompt information, and obtaining a target parking type contained in the feedback information, wherein the target parking type includes a first parking type or a second parking type; Vehicle position information and a steering wheel angle are obtained, a target control strategy is determined based on the target parking type according to the vehicle position information and the steering wheel angle, and the vehicle parking is controlled according to the target control strategy.

2. The method according to claim 1, characterized in that The determining of a target control strategy based on the target parking type according to the vehicle position information and the steering wheel angle includes: In response to the target parking type being the first parking type, determining a wheel angle according to the steering wheel angle; Obtaining a relative angle between the vehicle body and the road shoulder, and determining a target contact angle based on the relative angle and the wheel turning angle, wherein the target contact angle is the angle between the tire contact surface of the vehicle tire closest to the road shoulder and the road shoulder; In response to the target contact angle being less than a preset contact angle threshold, target prompt information is determined according to the vehicle position information, and the target control strategy is determined to output the target prompt information.

3. The method according to claim 2, characterized in that The determining of the target contact angle according to the relative angle and the wheel rotation angle includes: In response to the relative angle being less than or equal to a preset relative angle threshold, determining the target contact angle to be the wheel angle; or, In response to the relative angle being greater than a preset relative angle threshold, the relative angle and the wheel angle are added together to obtain a target contact angle.

4. The method according to claim 2, characterized in that In response to the target contact angle being less than a preset contact angle threshold, determining target prompt information according to the vehicle position information includes: In response to the target contact angle being less than a preset contact angle threshold, determining a first distance between a first target tire and a road shoulder based on the vehicle position information, wherein the first target tire is a tire of the vehicle closest to the road shoulder; In response to the first distance being less than a first preset distance threshold, determining the target prompt information as first prompt information, wherein the first prompt information is used to prompt that the vehicle is too close to the road shoulder and needs to re-enter the road shoulder; or In response to the first distance being greater than or equal to a first preset distance threshold, the target prompt information is determined to be second prompt information, wherein the second prompt information is used to prompt that the steering wheel angle needs to be increased before continuing parking.

5. The method according to claim 1, characterized in that The determining of a target control strategy based on the target parking type according to the vehicle position information and the steering wheel angle includes: In response to the target parking type being the second parking type, obtaining a target parking position, and determining a plurality of to-be-determined parking paths based on the vehicle position information, the target parking position, and the steering wheel angle; Determine the parking duration corresponding to each to-be-determined parking path, and select the to-be-determined parking path corresponding to the shortest parking duration as the target parking path; The target control strategy is determined to control the vehicle to park according to the target parking path.

6. The method according to claim 5, characterized in that The determining of a plurality of parking paths to be determined based on the vehicle position information, the target parking position, and the steering wheel angle includes: determining an initial parking path based on the vehicle position information, the target parking position, and the steering wheel angle; Obstacle information in the vehicle's environment is obtained, the initial parking path and the obstacle information are input into a pre-trained path planning model, and after processing by the path planning model, a plurality of parking paths to be determined are output.

7. The method according to claim 1, characterized in that After controlling the vehicle to park according to the target control strategy, the method further includes: In response to the completion of parking of the vehicle, obtaining actual parking route and parking environment information, and storing the actual parking route and the parking environment information in correspondence; Determining that the vehicle is powered on again, obtaining current environment information, and comparing the current environment information with the parking environment information; In response to the current environment information being the same as the parking environment information, the vehicle is controlled to move away from a road shoulder along the actual parking route.

8. The method according to claim 7, characterized in that The controlling the vehicle to drive off the road shoulder along the actual parking route includes: The vehicle tire closest to the road shoulder when parking is completed is used as the second target tire, and a second distance between the second target tire and the road shoulder is obtained; In response to the second distance being less than a second preset distance threshold, the vehicle speed is controlled to decrease to a preset speed threshold, and the vehicle is controlled to drive away from the road shoulder along the actual parking route at the preset speed threshold.

9. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: The vehicle includes the electronic device according to claim 9.

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