Vehicle control method, electronic device, vehicle and program product

Abstract

The invention discloses a vehicle control method, an electronic device, a vehicle and a computer program product. Relates to the technical field of vehicle control, and the vehicle control method comprises the steps: determining a parking route of a vehicle according to parking space information, vehicle information and environment information; and according to the parking route of the vehicle, the vehicle is controlled to be parked in a target parking space. The method and the device can be used for avoiding the possible road congestion condition in the parking process and reducing the parking time of a driver.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and more specifically, to a vehicle control method, electronic equipment, vehicle, and computer program product. Background Art

[0002] Parallel parking is a common parking method used by drivers, allowing them to park their vehicles in parking spaces alongside the road. However, if the driver's driving skills are not proficient, it will take a long time to complete the parking, which may cause traffic congestion and waste the driver's time. Summary of the Invention

[0003] The embodiments of the present application provide a vehicle control method, electronic equipment, vehicle, and computer program product for avoiding road congestion that may occur during parking and reducing the parking time of drivers.

[0004] The vehicle control method of the embodiment of the present application includes: determining a parking route of the vehicle based on parking space information, vehicle information, and environmental information; and controlling the vehicle to park in a target parking space based on the parking route of the vehicle.

[0005] In certain embodiments, the parking route includes a straight-line-single-arc parking route and a straight-line-double-arc parking route. Determining the parking route for the vehicle based on the parking space information, the vehicle information, and the environmental information includes: inputting the parking space information, the vehicle information, and the environmental information into a preset straight-line-single-arc algorithm to determine whether the vehicle can park into the target parking space via the straight-line-single-arc parking route; and if the vehicle can park into the target parking space via the straight-line-single-arc parking route, determining the straight-line-single-arc parking route; if the vehicle cannot park into the target parking space via the straight-line-single-arc parking route, inputting the parking space information, the vehicle information, and the environmental information into a preset straight-line-double-arc algorithm to determine whether the vehicle can park into the target parking space; and if the vehicle can park into the target parking space via the straight-line-double-arc parking route, determining the straight-line-double-arc parking route; and if the vehicle cannot park into the target parking space via the straight-line-double-arc parking route, sending a parking failure message.

[0006] In certain embodiments, inputting the parking space information, the vehicle information, and the environmental information into a preset straight-line-single-arc parking algorithm to determine whether the vehicle can park into the target parking space via the straight-line-single-arc parking route, and determining the straight-line-single-arc parking route if the vehicle can park into the target parking space via the straight-line-single-arc parking route, includes: determining a target coordinate system based on the parking space information, the vehicle information, and the environmental information, the target coordinate system including a starting coordinate of the vehicle, an ending coordinate of the vehicle, and a first tilt angle, where the first tilt angle is the angle between a central axis of the vehicle and a horizontal axis of the target coordinate system; determining whether the vehicle can park into the target parking space via the straight-line-single-arc parking route based on the starting coordinates, the ending coordinates, and the first tilt angle; and determining a first turning route and a first straight route in the target coordinate system if the vehicle can park into the target parking space via the straight-line-single-arc parking route; and determining the straight-line-single-arc parking route based on the first turning route and the first straight route.

[0007] In certain embodiments, determining whether the vehicle can park into the target parking space via the straight-line-single-arc parking route based on the starting coordinates, the ending coordinates, and the first inclination angle, and determining a first turning route and a first straight-line route in the target coordinate system if the vehicle can park into the target parking space via the straight-line-single-arc parking route, includes: assuming that a point on the vertical axis of the coordinate system is the center of the first turning route, the coordinate value of the center of the circle is (0, R), and the first turning route is a route formed by turning with R as a radius and the first inclination angle as a center angle; obtaining the coordinates of the starting point of the first turning route based on the coordinate value of the center of the first turning route and the first inclination angle, wherein the The angle between the vertical axis of the coordinate system and the line connecting the starting point of the first turning route and the center of the first turning route is the first inclination angle; the turning radius of the first turning route and the length of the first straight line are obtained based on the coordinates of the starting point of the first turning route, the starting coordinates, the end point coordinates, the first inclination angle, and a preset straight line-single arc relationship; when the radius of the first turning route and the length of the first straight line both have real values greater than zero, the first turning route is determined based on the radius of the first turning route, the end point coordinates, and the first inclination angle, and the first straight line is determined based on the length of the first straight line, the coordinates of the starting point of the first turning route, and the starting coordinates.

[0008] In certain embodiments, the control method further includes: determining that the vehicle cannot park into the target parking space via the straight-line-single-circular parking route when either the radius of the first turning route or the length of the first straight-line route does not have a real value greater than zero.

[0009] In certain embodiments, when the vehicle cannot park into the target parking space via the straight-line-single-arc parking route, the parking space information, the vehicle information, and the environmental information are input into a preset straight-line-double-arc algorithm to determine whether the vehicle can park into the target parking space, and when the vehicle can park into the target parking space via the straight-line-double-arc parking route, the straight-line-double-arc parking route is determined, including: determining a target coordinate system based on the parking space information, the vehicle information, and the environmental information, the target coordinate system including the starting coordinates of the vehicle, the ending coordinates of the vehicle, and a first coordinate system. a tilt angle, wherein the first tilt angle is the angle between the central axis of the vehicle and the horizontal axis of the target coordinate system; determining whether the vehicle can park in the target parking space via the straight-line-double-arc parking route based on the vehicle information, the starting coordinates, the ending coordinates, and the first tilt angle; and if the vehicle can park in the target parking space via the straight-line-double-arc parking route, determining a second turning route, a third turning route, and a second straight-line route in the target coordinate system; and determining the straight-line-double-arc parking route based on the second turning route, the third turning route, and the second straight-line route.

[0010] In some embodiments, the method of determining whether the vehicle can park in the target parking space via the straight-line-double-arc parking route based on the vehicle information, the starting coordinates, the ending coordinates, and the first tilt angle, and determining a second turning route, a third turning route, and a second straight line route in the target coordinate system if the vehicle can park in the target parking space via the straight-line-double-arc parking route, includes: assuming that a point on the longitudinal axis of the coordinate system is the center of the second turning route, assuming an angle is the center angle of the second turning route, and the radius of the second turning route is the minimum turning radius of the vehicle; obtaining the coordinates of the starting point of the second turning route based on the coordinate values of the center of the second turning route and the center angle of the second turning route; determining the coordinates of the starting point of the third turning route based on the first tilt angle, the coordinates of the starting point of the second turning route, the radius of the second turning route, and the center angle of the second turning route, and the starting point of the third turning route and the third turning route. The angle between the line connecting the centers of the turning routes and the longitudinal axis of the coordinate axis is the first inclination angle, and the radius of the third turning route is equal to the radius of the second turning route. The starting coordinates, the starting point coordinates of the second turning route, the starting point coordinates of the third turning route, the end point coordinates, the radius of the second turning route, and the first inclination angle are substituted into a preset straight line-double arc route relationship to obtain the central angle of the second turning route and the length of the second straight line. When both the central angle of the second turning route and the length of the second straight line have real values greater than zero, the second turning route is determined based on the central angle of the second turning route, the end point coordinates, and the radius of the second turning route. The third turning route is determined based on the starting point coordinates of the second turning route, the central angle of the second turning route, and the first inclination angle. The second straight line is determined based on the starting point coordinates of the third turning route, the length of the second straight line, and the starting coordinates.

[0011] In certain embodiments, the control method further includes: determining that the vehicle cannot park into the target parking space via the straight-line-double-circular parking route when either the central angle of the second turning route or the length of the second straight-line route does not have a real value greater than zero.

[0012] In certain embodiments, after controlling the vehicle to park in a target parking space according to the parking route of the vehicle, the control method further includes: determining whether the vehicle is parked successfully based on image information around the vehicle; if the vehicle is parked successfully, controlling the steering wheel of the vehicle to return to the center position, and / or controlling the gear position of the vehicle to return to the original position, and / or controlling the vehicle to park and shut down.

[0013] In certain embodiments, the control method further includes: in response to a user's instruction, entering a parking space search mode, determining the type of parking space around the vehicle based on the parking space information, the vehicle information, and the environmental information; and if there is an idle parallel parking space around the vehicle, determining the idle parallel parking space as the target parking space.

[0014] In some embodiments, determining the parking space type around the vehicle based on the parking space information, the vehicle information, and the environmental information includes: determining that the vacant parking spaces around the vehicle are transition parking spaces based on the environmental information; and screening out the parallel parking spaces from the transition parking spaces based on the parking space information, the vehicle information, and the environmental information.

[0015] In some embodiments, the control method further includes: sending a parking failure message when the driving distance of the vehicle reaches a preset driving distance threshold.

[0016] The present application also provides an electronic device, which includes a memory and a processor, wherein the memory is configured to store a computer program, and when the processor executes the computer program, it implements the control method described in any one of the above embodiments.

[0017] The present application also provides a vehicle, comprising the vehicle control device described in any one of the above embodiments; or, comprising the electronic device described in any one of the above embodiments.

[0018] The present application also provides a computer program product having a computer program stored thereon, which implements the control method described in any one of the above embodiments when the program is executed by a processor.

[0019] The vehicle control method, electronic device, vehicle, and computer program product provided herein determine a parking route that allows the vehicle to park in the target parking space by analyzing parking space information of the target space, the vehicle's own information, and environmental information about the vehicle's surroundings. Based on the parking route, the vehicle is then controlled to park in the target space, thereby achieving automatic parking. This application ensures that even if a driver's driving skills are not proficient, they can quickly park the vehicle in the target parking space, thereby avoiding road congestion and reducing the time drivers spend parking.

[0020] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0022] Figure 1 is a flow chart of a vehicle control method according to some embodiments of the present application;

[0023] Figure 2 is a schematic structural diagram of a vehicle control device according to some embodiments of the present application;

[0024] Figure 3 is a schematic diagram of a process for determining a parking route for a vehicle based on parking space information, vehicle information, and environmental information in some embodiments of the present application;

[0025] Figure 4 is a schematic diagram of the relative position between a vehicle and a target parking space in some embodiments of the present application;

[0026] Figure 5 is a schematic diagram of a straight line-single arc parking route in some embodiments of the present application;

[0027] Figure 6 is a schematic diagram of a straight-line-double-arc parking route in some embodiments of the present application;

[0028] Figure 7 This is a flowchart illustrating inputting parking space information, vehicle information, and environmental information into a preset straight-line-single-arc algorithm in some embodiments of the present application to determine whether a vehicle can park into a target parking space via a straight-line-single-arc parking route, and determining a straight-line-single-arc parking route if the vehicle can park into the target parking space via the straight-line-single-arc parking route.

[0029] Figure 8 This is a flowchart illustrating how, in some embodiments of the present application, a method for determining whether a vehicle can park into a target parking space via a straight-line-single-circular parking route based on starting coordinates, ending coordinates, and a first tilt angle, and determining a first turning route and a first straight route in a target coordinate system if the vehicle can park into the target parking space via the straight-line-single-circular parking route.

[0030] Figure 9 This is a flowchart illustrating how, in some embodiments of the present application, a method for determining whether a vehicle can park into a target parking space via a straight-line-single-circular parking route based on starting coordinates, ending coordinates, and a first tilt angle, and determining a first turning route and a first straight route in a target coordinate system if the vehicle can park into the target parking space via the straight-line-single-circular parking route.

[0031] Figure 10This is a flowchart illustrating how, in some embodiments of the present application, when a vehicle cannot park into a target parking space via a straight-line-single-arc parking route, parking space information, vehicle information, and environmental information are input into a preset straight-line-double-arc algorithm to determine whether the vehicle can park into the target parking space, and when the vehicle can park into the target parking space via a straight-line-double-arc parking route, a straight-line-double-arc parking route is determined.

[0032] Figure 11 This is a flowchart illustrating how, in some embodiments of the present application, a method for determining whether a vehicle can park into a target parking space via a straight-line-double-circular parking route based on vehicle information, starting coordinates, end coordinates, and a first tilt angle, and determining a second turning route, a third turning route, and a second straight line route in a target coordinate system if the vehicle can park into the target parking space via the straight-line-double-circular parking route.

[0033] Figure 12 is a schematic structural diagram of a vehicle control device according to some embodiments of the present application;

[0034] Figure 13 is a flow chart of a vehicle control method according to some embodiments of the present application;

[0035] Figure 14 is a flow chart of, in some embodiments of the present application, entering a parking space search mode in response to a user's instruction and determining the parking space type around a vehicle based on parking space information, vehicle information, and environmental information;

[0036] Figure 15 is a schematic diagram of a vehicle according to certain embodiments of the present application;

[0037] Figure 16 This is a schematic diagram of the connection status of a computer program product and a processor in certain embodiments of the present application.

[0038] Description of main component symbols:

[0039] Vehicle 100;

[0040] a control device 10 of a vehicle;

[0041] First determination module 11; first control module 12; second determination module 13; second control module 14; third determination module 15; fourth determination module 16; interaction module 17;

[0042] Processor 20;

[0043] Computer program product 200; computer program 202;

[0044] Electronic equipment 30;

[0045] Target parking space 400. DETAILED DESCRIPTION

[0046] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and should not be understood as limiting the embodiments of the present application.

[0047] With the increasing congestion of urban traffic, finding a suitable parking space and completing parking as quickly as possible has become a challenge for drivers. The most common parking scenario faced by drivers is roadside parking. Therefore, parallel parking is a common parking method used by drivers. Drivers can park their vehicles in parking spaces next to the road by using the method of parallel parking. However, if the driver's driving skills are not proficient enough, the driver needs to spend more time to complete parking, which may not only cause road congestion, but also waste the driver's time. How to solve the problem of the parking process taking a long time due to the driver's unskilled driving skills has become a difficult problem that needs to be solved urgently by those skilled in the art. In order to solve this problem, the present application provides a vehicle control method (such as Figure 1 As shown), the vehicle's control device (such as Figure 2 As shown), electronic equipment (such as Figure X As shown), vehicles (such as Figure X ) and computer program products (such as Figure X shown).

[0048] See also Figure 1 and Figure 2 The vehicle control method according to the embodiment of the present application includes:

[0049] 03: Determine the parking route of the vehicle based on parking space information, vehicle information and environmental information;

[0050] 05: Control the vehicle to park in the target parking space according to the vehicle's parking route.

[0051] The above-described vehicle control method can be applied to a vehicle control device 10. The vehicle control device 10 in the embodiment of the present application includes a first determination module 11 and a first control module 12. The first determination module 11 is configured to determine a parking route for the vehicle based on parking space information, vehicle information, and environmental information. The first control module 12 is configured to control the vehicle to park in a target parking space based on the parking route.

[0052] Specifically, the vehicle's control device 10 is a control device integrated within the vehicle. The vehicle's control device 10 is primarily used to implement the vehicle's automatic parking function. The vehicle's control device 10 can integrate parking space information of a target parking space (a target parking space refers to an empty parking space located near the vehicle that the driver wishes to park in), vehicle information of the driver's vehicle (e.g., vehicle parameters such as the vehicle's front and rear axle lengths, body length, and body width), and environmental information (environmental information surrounding the vehicle, such as the relative distance between the vehicle's position and the target parking space) to perform real-time analysis and calculation of the vehicle's current position and the geometric characteristics of the target parking space, thereby generating a safe and efficient parking path. The core function of the vehicle's control device 10 is to coordinate the workflows of the first determination module 11 and the first control module 12 to ensure the continuity and safety of the parking process. Specifically, the vehicle's control device 10 is responsible for receiving real-time data from sensors, cameras, and other devices, processing this data through internal algorithms, and ultimately outputting control instructions to drive the vehicle to complete the parking operation. The design goal of the vehicle control device 10 is to reduce the driver's operating burden, improve parking efficiency and safety, thereby saving the driver's time, and avoiding road congestion caused by excessive parking time.

[0053] More specifically, the first determination module 11 is a submodule within the vehicle's control device 10. Its primary function is to determine the vehicle's parking route based on parking space information, vehicle information, and environmental information. By analyzing the geometric characteristics of the target parking space (such as its length, width, and location), the vehicle's physical parameters (such as its minimum turning radius), and combining them with surrounding environmental information (such as the relative distance between the target parking space and the vehicle), the first determination module 11 calculates and determines a feasible and optimal parking path. In practice, the first determination module 11 utilizes multiple algorithms to plan the parking route, ensuring its smoothness and safety.

[0054] More specifically, the first control module 12 is the execution module within the vehicle's control device 10. Its primary function is to control the vehicle's movement in real time based on the parking path generated by the first determination module 11, ensuring accurate parking in the target parking space. The first control module 12 receives real-time data from sensors (such as the vehicle's current position, speed, and acceleration), combines it with the parking path planning results, and calculates vehicle control commands (such as steering angle, throttle position, and braking force). These commands are then sent to the vehicle's actuators (such as the electric power steering system and electronic control unit).

[0055] It is understood that the vehicle control method provided by this application determines a parking route that allows the vehicle to park in the target parking space by analyzing parking space information of the target parking space, the vehicle's own information, and environmental information of the vehicle's surroundings. Based on the parking route, the vehicle is then controlled to park in the target parking space, thereby achieving an automatic parking process. This application ensures that even if the driver's driving skills are not proficient, the vehicle can be quickly parked in the target parking space, thereby avoiding traffic congestion caused by the time-consuming parking process and reducing the time the driver spends parking.

[0056] In certain embodiments, see Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 The parking routes include straight-line-single-arc parking routes and straight-line-double-arc parking routes. 03: Determine the vehicle's parking route based on parking space information, vehicle information, and environmental information, including:

[0057] 031: Input the parking space information, vehicle information, and environmental information into a preset straight-line-single-arc algorithm to determine whether the vehicle can park into the target parking space via the straight-line-single-arc parking route. If the vehicle can park into the target parking space via the straight-line-single-arc parking route, determine the straight-line-single-arc parking route.

[0058] 033: If the vehicle cannot park into the target parking space via the straight-line-single-arc parking route, input the parking space information, vehicle information, and environmental information into a preset straight-line-double-arc algorithm to determine whether the vehicle can park into the target parking space. If the vehicle can park into the target parking space via the straight-line-double-arc parking route, determine a straight-line-double-arc parking route.

[0059] 035: If the vehicle cannot park into the target parking space via the straight-line-double-circle parking route, a parking failure message is sent.

[0060] The above-mentioned vehicle control method can be applied to the vehicle control device 10. The first determination module 11 is further used to input the parking space information, vehicle information and environmental information into a preset straight-line-single-arc algorithm to determine whether the vehicle can park into the target parking space via the straight-line-single-arc parking route, and determine the straight-line-single-arc parking route if the vehicle can park into the target parking space via the straight-line-single-arc parking route; if the vehicle cannot park into the target parking space via the straight-line-single-arc parking route, input the parking space information, vehicle information and environmental information into a preset straight-line-double-arc algorithm to determine whether the vehicle can park into the target parking space, and determine the straight-line-double-arc parking route if the vehicle can park into the target parking space via the straight-line-double-arc parking route; if the vehicle cannot park into the target parking space via the straight-line-double-arc parking route, send a parking failure message.

[0061] Specifically, parking space information includes parking space dimensions, such as its length and width. Vehicle information includes vehicle parameters, such as the length of its front and rear axles, and its body length and width. Environmental information reflects the relative positional relationship between the parking space and the vehicle. In this application, the calculation process for a straight-line-single-arc parking route is faster and parking takes less time than a straight-line-double-arc parking route. Therefore, if a vehicle can park into the target parking space via the straight-line-single-arc parking route, the straight-line-single-arc parking route is preferred as the vehicle's parking route. If the vehicle cannot park into the target parking space via the straight-line-single-arc parking route, a straight-line-double-arc parking route is determined using a preset straight-line-double-arc parking algorithm, and the vehicle is then parked into the target parking space via the straight-line-double-arc parking route.

[0062] Further, see Figure 4 The relative position relationship between the vehicle 100 and the target parking space 400 can be obtained by Figure 4 The rectangular coordinate system shown is used to reflect this. Figure 4 The origin of the central coordinate system is point C, which is the point corresponding to the midpoint of the rear axle of the vehicle after the vehicle completes parking. Therefore, in the process of determining the parking route, point C can be regarded as the end point of the parking route.

[0063] Furthermore, please combine Figure 5 , Figure 5 The image shows a straight-line-single-arc parking path. Point A represents the starting point of the straight-line-single-arc parking path and is also the midpoint of the vehicle's rear axle. Point B represents the starting point of the circular portion of the straight-line-single-arc parking path, and Point D represents the center point of the circular portion of the straight-line-single-arc parking path. α represents the angle between the straight portion of the straight-line-single-arc parking path and the horizontal axis of the coordinate system.

[0064] Furthermore, please combine Figure 6 , Figure 6 A straight-line-double-arc parking route is shown, where point A represents the starting position of the straight-line-single-arc parking route and is also the midpoint of the vehicle's rear axle. Point B represents the starting position of one arc segment of the straight-line-double-arc parking route, point F represents the starting position of the other arc segment of the straight-line-double-arc parking route, point D represents the center point of one arc segment of the straight-line-double-arc parking route, and point E represents the center point of the other arc segment of the straight-line-double-arc parking route. α represents the angle between the straight line segment of the straight-line-single-arc parking route and the horizontal axis of the coordinate system, and β represents the center angle of one arc segment of the straight-line-double-arc parking route. The specific methods for determining the straight-line-single-arc parking route and the straight-line-double-arc parking route will be explained in more detail below.

[0065] Furthermore, if the vehicle cannot be successfully parked in the parking space using the straight-line-double-circular parking route, the first determination module 11 directly sends a parking failure message, prompting the user through a display screen or voice that the vehicle cannot be successfully parked in the parking space at the current position, so as to prompt the user to move the vehicle to replan the parking route.

[0066] See also Figure 2 、 Figure 5 and Figure 7 In some embodiments, 031: inputting parking space information, vehicle information, and environmental information into a preset straight-line-single-arc algorithm to determine whether the vehicle can park into the target parking space via the straight-line-single-arc parking route, and if the vehicle can park into the target parking space via the straight-line-single-arc parking route, determining the straight-line-single-arc parking route includes:

[0067] 0311: Determine a target coordinate system based on the parking space information, vehicle information, and environmental information. The target coordinate system includes the vehicle's starting coordinates, the vehicle's ending coordinates, and a first tilt angle. The first tilt angle is the angle between the vehicle's central axis and the horizontal axis of the target coordinate system.

[0068] 0313: Determine whether the vehicle can park into the target parking space via the straight-line-single-circular parking route based on the starting coordinates, the ending coordinates, and the first tilt angle. If the vehicle can park into the target parking space via the straight-line-single-circular parking route, determine the first turning route and the first straight route in the target coordinate system.

[0069] 0315: Determine the straight-line-single-arc parking route based on the first turning route and the first straight-line route.

[0070] The above-mentioned vehicle control method can be applied to the vehicle control device 10. The first determination module 11 is further used to determine the target coordinate system based on the parking space information, vehicle information and environmental information. The target coordinate system includes the starting coordinates of the vehicle, the end coordinates of the vehicle and a first tilt angle. The first tilt angle is the angle between the central axis of the vehicle and the horizontal axis of the target coordinate system; based on the starting coordinates, the end coordinates and the first tilt angle, it is determined whether the vehicle can park in the target parking space through the straight-line-single-arc parking route, and if the vehicle can park in the target parking space through the straight-line-single-arc parking route, a first turning route and a first straight-line route are determined in the target coordinate system; based on the first turning route and the first straight-line route, a straight-line-single-arc parking route is determined.

[0071] Specifically, please combine Figure 5 , the target coordinate system can be Figure 5The coordinate system shown in FIG. 1 includes the starting coordinates of the vehicle (point A coordinates), the end coordinates of the vehicle (point C coordinates) and the first tilt angle (angle α) in the target coordinate system. The first determination module 11 can determine the first turning route and the first straight route in the target coordinate system based on the starting coordinates, the end coordinates and the first tilt angle. This solution process will be explained in more detail below. If, during the calculation of the first turning route and the first straight route, the first determination module 11 can calculate the radius of the first turning route and the length of the first straight route, that is, the radius of the first turning route and the length of the first straight route have real values greater than zero, then the first determination module 11 determines that the vehicle can park in the target parking space through the straight-line-single arc parking route. In the case that the vehicle can park in the target parking space through the straight-line-single arc parking route, the first determination module 11 determines the straight-line-single arc parking route based on the first turning route and the first straight route. For example, with Figure 5 For example, line segment AB may be a first straight line route, and arc BC may be a first turning route.

[0072] See also Figure 2 、 Figure 5 and Figure 8 In some embodiments, 0313: determining whether the vehicle can park into the target parking space via the straight-line-single-circular parking route based on the starting coordinates, the ending coordinates, and the first tilt angle, and determining a first turning route and a first straight route in the target coordinate system if the vehicle can park into the target parking space via the straight-line-single-circular parking route, includes:

[0073] 03131: Assume that a point on the vertical axis of the coordinate system is the center of the first turning route, and the coordinates of the center are (0, R). The first turning route is a route formed by turning with R as the radius and the first inclination angle as the center angle.

[0074] 03132: Obtain the coordinates of the starting point of the first turning route based on the coordinate values of the center of the first turning route and the first inclination angle, wherein the angle between the line connecting the starting point of the first turning route and the center of the first turning route and the longitudinal axis of the coordinate system is the first inclination angle;

[0075] 03133: Obtaining the turning radius of the first turning route and the length of the first straight line route according to the coordinates of the starting point, the starting coordinates, the end coordinates, the first inclination angle, and a preset straight line-single arc relationship of the first turning route;

[0076] 03134: When the radius of the first turning route and the length of the first straight route both have real values greater than zero, the first turning route is determined based on the radius of the first turning route, the end point coordinates, and the first inclination angle, and the first straight route is determined based on the length of the first straight route, the coordinates of the starting point of the first turning route, and the starting coordinates.

[0077] The above-mentioned vehicle control method can be applied to the vehicle control device 10, wherein the first determination module 11 is further configured to assume that a point on the vertical axis of the coordinate system is the center of a first turning route, the coordinate value of the center of the circle is (0, R), and the first turning route is a route formed by turning with R as a radius and a first inclination angle as a center angle; obtain the coordinates of the starting point of the first turning route based on the coordinate value of the center of the first turning route and the first inclination angle, wherein the angle between the line connecting the starting point of the first turning route and the center of the first turning route and the vertical axis of the coordinate system is the first inclination angle; obtain the turning radius of the first turning route and the length of the first straight line route based on the coordinates of the starting point of the first turning route, the starting coordinates, the end coordinates, the first inclination angle, and a preset straight line-single arc relationship; and determine the first turning route based on the radius of the first turning route and the length of the first straight line route when both the radius of the first turning route and the length of the first straight line route have real values greater than zero, and determine the first turning route based on the radius of the first turning route, the end coordinates, and the first inclination angle, and determine the first straight line route based on the length of the first straight line route, the coordinates of the starting point of the first turning route, and the starting coordinates.

[0078] Specifically, Figure 5 For example, the center coordinates of the first turning route can be set to (0, R), where R represents the radius of the first turning route. Based on the center coordinates of the first turning route and the first inclination angle, the first determination module 11 can determine the starting point coordinates of the first turning route. For example, the starting point coordinates (i.e., the coordinates of point B) can be (R*sinα, RR*cosα). Afterwards, the first determination module 11 can substitute the starting coordinates, the starting point coordinates of the first turning route, the end point coordinates and the first inclination angle into the preset straight line-single arc route equation to determine the radius of the first turning route and the length of the first straight line route. For example, assuming that the coordinates of the starting position A of the vehicle are (start_x, start_y), then the following relationship can be determined based on R and the first inclination angle α:

[0079] start_x=R*sinα+L*cosα;

[0080] start_y=RR*cosα+L*sinα;

[0081] In the above relationship, the end point coordinate C is used as the origin of the coordinate system. Since the coordinates of the vehicle's starting position A and the first tilt angle α are both known, the following relationship can be obtained (i.e., the preset straight line-single arc route equation):

[0082] R=(start_x*sinα-start_y*cosα) / (1-cosα);

[0083] L=(start_x-R*sinα) / cosα;

[0084] Solving the above relationship can obtain the radius R of the first turning route and the length L of the first straight route. After obtaining the radius R of the first turning route and the length L of the first straight route, the first determination module 11 can directly determine the first turning route and the first straight route, thereby obtaining a straight-line-single-arc parking route.

[0085] See also Figure 2 and Figure 9 In some embodiments, the control method further comprises:

[0086] 03136: When neither the radius of the first turning route nor the length of the first straight route has a real value greater than zero, it is determined that the vehicle cannot park into the target parking space via the straight-line-single-circular parking route.

[0087] The above-mentioned vehicle control method can be applied to the vehicle control device 10, and the first determination module 11 is further used to determine that the vehicle cannot park into the target parking space via the straight-line-single-circular parking route when either the radius of the first turning route or the length of the first straight-line route does not have a real value greater than zero.

[0088] It is understandable that if the above relationship cannot be used to obtain a real value greater than zero for the radius of the first turning route and the length of the first straight route, then it indicates that the vehicle cannot park via the straight-line-single-arc parking route, and the first determination module 11 needs to add an arc to the parking route to further adjust the vehicle's position.

[0089] See also Figure 2 、 Figure 6 and Figure 10 In certain embodiments, 033: if the vehicle cannot park into the target parking space via the straight-line-single-arc parking route, inputting the parking space information, vehicle information, and environmental information into a preset straight-line-double-arc algorithm to determine whether the vehicle can park into the target parking space, and if the vehicle can park into the target parking space via the straight-line-double-arc parking route, determining a straight-line-double-arc parking route includes:

[0090] 0331: Determine a target coordinate system based on the parking space information, vehicle information, and environmental information. The target coordinate system includes the vehicle's starting coordinates, the vehicle's ending coordinates, and a first tilt angle. The first tilt angle is the angle between the vehicle's central axis and the horizontal axis of the target coordinate system.

[0091] 0333: Determine whether the vehicle can park into the target parking space via the straight-line-double-circular parking route based on the vehicle information, the starting coordinates, the ending coordinates, and the first tilt angle. If the vehicle can park into the target parking space via the straight-line-double-circular parking route, determine the second turning route, the third turning route, and the second straight route in the target coordinate system.

[0092] 0335: Determine the straight-line-double-arc parking route based on the second turning route, the third turning route and the second straight route.

[0093] The above-mentioned vehicle control method can be applied to the vehicle control device 10, and the first determination module 11 is further used to determine the target coordinate system based on the parking space information, vehicle information and environmental information, the target coordinate system including the vehicle's starting coordinates, the vehicle's end coordinates and a first tilt angle, the first tilt angle being the angle between the vehicle's central axis and the horizontal axis of the target coordinate system; based on the vehicle information, the starting coordinates, the end coordinates and the first tilt angle, determine whether the vehicle can park in the target parking space through the straight-line-double-arc parking route, and if the vehicle can park in the target parking space through the straight-line-double-arc parking route, determine the second turning route, the third turning route and the second straight-line route in the target coordinate system; and determine the straight-line-double-arc parking route based on the second turning route, the third turning route and the second straight-line route.

[0094] Specifically, please combine Figure 6 , the target coordinate system can be Figure 6 The coordinate system shown in FIG. 1 includes the starting coordinates of the vehicle (point A coordinates), the ending coordinates of the vehicle (point C coordinates) and the first tilt angle (angle α) in the target coordinate system. The first determination module 11 can determine the second turning route (arc BC), the third turning route (arc FB) and the second straight route (straight line segment AF) in the target coordinate system based on the vehicle information, the starting coordinates, the ending coordinates and the first tilt angle. The solution process will be explained in more detail below.

[0095] See also Figure 2 、 Figure 6 and Figure 11In some embodiments, 0333: determining whether the vehicle can park into the target parking space via the straight-line-double-circular parking route based on the vehicle information, the starting coordinates, the ending coordinates, and the first tilt angle, and if the vehicle can park into the target parking space via the straight-line-double-circular parking route, determining a second turning route, a third turning route, and a second straight line route in the target coordinate system includes:

[0096] 03331: Assume that a point on the vertical axis of the coordinate system is the center of the second turning line, and assume that an angle is the center angle of the second turning line. The radius of the second turning line is the minimum turning radius of the vehicle.

[0097] 03332: Obtain the coordinates of the starting point of the second turning route according to the coordinate value of the center of the second turning route and the central angle of the second turning route;

[0098] 03333: Determine the coordinates of the starting point of the third turning route based on the first inclination angle, the coordinates of the starting point of the second turning route, the radius of the second turning route, and the center angle of the second turning route. The angle between the vertical axis of the coordinate axis and the line connecting the starting point of the third turning route and the center of the third turning route is the first inclination angle. The radius of the third turning route is equal to the radius of the second turning route.

[0099] 03334: Substitute the starting coordinates, the starting point coordinates of the second turning route, the starting point coordinates of the third turning route, the end point coordinates, the radius of the second turning route, and the first inclination angle into the preset straight line-double arc route relationship formula to obtain the central angle of the second turning route and the length of the second straight line route;

[0100] 03335: When the central angle of the second turning route and the length of the second straight route both have real values greater than zero, the second turning route is determined based on the central angle of the second turning route, the end point coordinates and the radius of the second turning route, and the third turning route is determined based on the starting point coordinates of the second turning route, the central angle of the second turning route and the first inclination angle, and the second straight route is determined based on the starting point coordinates of the third turning route, the length of the second straight route and the starting coordinates.

[0101] The above-mentioned vehicle control method can be applied to the vehicle control device 10, and the first determination module 11 is also used for 03331: assuming that a point on the longitudinal axis of the coordinate system is the center of the second turning route, and assuming that an angle is the center angle of the second turning route, and the radius of the second turning route is the minimum turning radius of the vehicle; according to the coordinate value of the center of the second turning route and the center angle of the second turning route, the coordinates of the starting point of the second turning route are obtained; according to the first inclination angle, the coordinates of the starting point of the second turning route, the radius of the second turning route and the center angle of the second turning route, the coordinates of the starting point of the third turning route are determined, the angle between the line connecting the starting point of the third turning route and the center of the third turning route and the longitudinal axis of the coordinate axis is the first inclination angle, and the radius of the third turning route is equal to the first inclination angle. The radius of the second turning route; substitute the starting coordinates, the starting point coordinates of the second turning route, the starting point coordinates of the third turning route, the end point coordinates, the radius of the second turning route and the first inclination angle into the preset straight line-double arc route relationship formula to obtain the central angle of the second turning route and the length of the second straight line route; when the central angle of the second turning route and the length of the second straight line route both have real values greater than zero, determine the second turning route according to the central angle of the second turning route, the end point coordinates and the radius of the second turning route, and determine the third turning route according to the starting point coordinates of the second turning route, the central angle of the second turning route and the first inclination angle, and determine the second straight line route according to the starting point coordinates of the third turning route, the length of the second straight line route and the starting coordinates.

[0102] Specifically, Figure 6 For example, the center coordinates of the second turning route can be set to (0, R). In this case, R is set to the minimum turning radius of the vehicle (which is part of the vehicle information). The first determining module 11 determines the starting point coordinates of the second turning route (i.e. Figure 6 For example, the coordinates of the starting point (i.e., the coordinates of point B) can be (R*sinβ, RR*cosβ), where β is the center angle of the second turning circle. Then, the first determining module 11 determines the coordinates of the starting point of the third turning route (i.e., Figure 6 For example, assuming the coordinates of point F are (x_F, y_F), then the coordinates of F can be expressed as follows (x_B represents the horizontal coordinate of point B, and y_B represents the vertical coordinate of point B):

[0103] x_F=x_B+R*sinβ-R*sinα=2R*sinβ-R*sinα;

[0104] y_F=y_B+R*(1-cosβ)-R*(1-cosα)=R-2R*cosβ+R*cosα;

[0105] The first determination module 11 may substitute the starting coordinates, the coordinates of the starting point of the second turning route, the coordinates of the starting point of the third turning route, the coordinates of the end point, the second turning radius, and the first inclination angle into the preset straight-line-double-arc route equation to determine the second turning route, the third turning route, and the second straight-line route. For example, assuming the coordinates of the vehicle's starting position A are (start_x, start_y), then since the AF line is tangent to the arc at point F, the corresponding inclination angle between the AF line and the X-axis is also α, and the following relationship can be determined:

[0106] start_x=2R*sinβ-R*sinα+L*cosα;

[0107] start_y=R-2R*cosβ+R*csoα+L*sinα;

[0108] In the above equation, the end point coordinate C is used as the origin of the coordinate system. Since the coordinates of the vehicle's starting position A and the first tilt angle α are both known, and the vehicle's minimum turning radius R is also known, the following equation (i.e., the preset straight line-double arc route equation) can be derived:

[0109] 2R*sinβ=start_x+R*sinα-L*cosα;

[0110] 2R*sinβ=start_x+R*sinα-L*cosα;

[0111] In the solution process, let M = start_x + R*sinα, N = R + R*cosα - start_y, and then we get the following relationship:

[0112] 2R*sinβ=ML*cosα;

[0113] 2R*cosβ=N+L*sinα;

[0114] Squaring both sides of these two equations and then summing them up yields the following equation:

[0115] 4R 2 =(M-Lcosα) 2 +(N+Lsinα) 2 ;

[0116] L 2 +2L(Nsinα-Mcosα)+M 2 +N 2 -4R 2 =0;

[0117] Solving the above relationship can obtain the second turning center angle β and the second straight-line distance L. After obtaining the second turning center angle β and the second straight-line distance L, the first determination module 11 can directly determine the second turning route, the third turning route and the second straight-line route, thereby obtaining the straight-line-double arc parking route.

[0118] Please combine Figure 2 In some embodiments, the control method further comprises:

[0119] 03336: When neither the central angle of the second turning route nor the length of the second straight route has a real value greater than zero, it is determined that the vehicle cannot park into the target parking space via the straight-line-double-circular parking route.

[0120] The above-mentioned vehicle control method can be applied to the vehicle control device 10, and the first determination module 11 is further used to determine that the vehicle cannot park into the target parking space via the straight-line-double-arc parking route when either the central angle of the second turning route or the length of the second straight-line route does not have a real value greater than zero.

[0121] It is understood that if the above relationship cannot be used to obtain real values greater than zero for the central angle of the second turning route and the length of the second straight line, then this indicates that the vehicle cannot park using the straight-line-double-circular parking route. In this case, a parking failure message is sent to the user via a display screen or voice prompt to prompt the user to readjust the vehicle position so that the parking route can be recalculated.

[0122] See also Figure 12 and Figure 13 In some embodiments, 05: after controlling the vehicle to park in the target parking space according to the vehicle's parking route, the control method further includes:

[0123] 07: Determine whether the vehicle is parked successfully based on the image information around the vehicle.

[0124] 08: When the vehicle is successfully parked, the steering wheel of the vehicle is controlled to return to the center position, and / or the gear position of the vehicle is controlled to be restored, and / or the vehicle is controlled to be parked and turned off.

[0125] The above-mentioned vehicle control method can be applied to the vehicle control device 10, and the vehicle control device 10 also includes a second determination module 13 and a second control module 14, wherein the second determination module 13 is used to determine whether the vehicle is parked successfully based on the image information around the vehicle, and the second control module 14 is used to control the steering wheel of the vehicle to return to the center position, and / or control the gear position of the vehicle to be restored, and / or control the vehicle to be parked and turned off when the vehicle is parked successfully.

[0126] It is understood that after the vehicle has completed its parking route, it is necessary to check whether the vehicle has been successfully parked. For example, the image information surrounding the vehicle can be used to determine whether the distances between the two sides of the vehicle and the parking line of the target parking space are the same. The image information surrounding the vehicle can also be used to obtain the distance between the front axle of the vehicle and the parking line of the target parking space, as well as the distance between the rear axle of the vehicle and the parking line of the target parking space. The vehicle is determined to have been successfully parked if the distances between the two sides of the vehicle and the parking line of the target parking space are the same, and the distance between the front axle of the vehicle and the parking line of the target parking space is equal to the distance between the rear axle of the vehicle and the parking line of the target parking space.

[0127] See also Figure 12 as well as Figure 13 In some embodiments, the control method further comprises:

[0128] 01: In response to the user's instruction, enter the parking space search mode and determine the parking space type around the vehicle based on the parking space information, vehicle information and environmental information;

[0129] 02: When there is an empty parallel parking space around the vehicle, the empty parallel parking space is determined as the target parking space.

[0130] The above-described vehicle control method can be applied to a vehicle control device 10, which also includes a third determination module 15 and a fourth determination module 16. The third determination module 15 is configured to enter a parking space search mode in response to a user's instruction and determine the type of parking spaces around the vehicle based on parking space information, vehicle information, and environmental information. The fourth determination module 16 is configured to determine an available parallel parking space as a target parking space if one exists around the vehicle.

[0131] See also Figure 12 as well as Figure 14 In some embodiments, 01: determining the parking space type around the vehicle based on the parking space information, the vehicle information, and the environment information, including:

[0132] 011: Based on the environmental information, determine the vacant parking spaces around the vehicle as transitional parking spaces;

[0133] 013: Based on parking space information, vehicle information and environmental information, select parallel parking spaces from transitional parking spaces.

[0134] The above-mentioned vehicle control method can be applied to the vehicle control device 10. The third determination module 15 is further used to determine that the vacant parking spaces around the vehicle are transition parking spaces based on environmental information; and to filter out parallel parking spaces from the transition parking spaces based on parking space information, vehicle information and environmental information.

[0135] Specifically, a parallel parking space refers to a type of parking space in which the vehicle will first contact the long side of the parking space during parking.

[0136] See also Figure 12 as well as Figure 13 In some embodiments, the control method further comprises:

[0137] 09: When the vehicle's driving distance reaches the preset driving distance threshold, a parking failure message is sent.

[0138] The above vehicle control method can be applied to the vehicle control device 10, which further includes an interaction module 17. The interaction module 17 is configured to send a parking failure message when the vehicle's travel distance reaches a preset travel distance threshold.

[0139] For example, the driving distance threshold can be set by the driver. The interaction module 17 can feedback parking failure information to the driver through the human-computer interaction interface.

[0140] In summary, the vehicle control method provided by this application determines a parking route that allows the vehicle to park in the target parking space by analyzing the parking space information of the target parking space, the vehicle's own information, and environmental information of the vehicle's surroundings. Based on the parking route, the vehicle is then controlled to park in the target parking space, thereby achieving automatic parking. This application ensures that even if the driver's driving skills are not proficient, the vehicle can be parked quickly in the target parking space, thereby avoiding traffic congestion and reducing the time the driver spends parking.

[0141] In certain embodiments, see Figure 15 The present application also provides an electronic device 30, which includes a memory and a processor. The memory is configured to store a computer program. When the processor executes the computer program, it implements the control method in any of the above embodiments.

[0142] In certain embodiments, see Figure 15 The present application also provides a vehicle 100, including the electronic device 30 in any of the above embodiments; or, including the vehicle control device 10 in any of the above embodiments.

[0143] See also Figure 16 In some embodiments, the present application further provides a computer program product 200 on which a computer program 202 is stored, which implements the control method in any of the above embodiments when executed by a processor.

[0144] For example, when the computer program 202 is executed by the processor 20, the following control method is implemented:

[0145] 03: Determine the parking route of the vehicle based on parking space information, vehicle information and environmental information;

[0146] 05: Control the vehicle to park in the target parking space according to the vehicle's parking route.

[0147] For another example, when the computer program 202 is executed by the processor 20, the following control method is implemented:

[0148] 031: Input the parking space information, vehicle information, and environmental information into a preset straight-line-single-arc algorithm to determine whether the vehicle can be parked in the target parking space, and determine a straight-line-single-arc parking route if the vehicle can park in the target parking space via the straight-line-single-arc parking route;

[0149] 033: When the vehicle cannot be parked in the target parking space, the parking space information, vehicle information and environmental information are input into the preset straight line-double arc algorithm to determine the straight line-double arc parking route.

[0150] For another example, when the computer program 202 is executed by the processor 20, it can also implement the control methods in 01, 011, 013, 02, 0311, 0313, 03131, 03133, 03135, 03137, 0315, 0317, 0319, 0331, 0333, 03331, 03333, 03335, 03337, 0335, 07, 08 and 09.

[0151] The computer program product 200 of the present application determines a parking route that allows the vehicle to park in the target parking space by analyzing parking space information of the target parking space, the vehicle's own information, and environmental information of the vehicle's surroundings. Based on the parking route, the vehicle is then controlled to park in the target parking space, thereby achieving an automatic parking process. This application ensures that even if a driver's driving skills are not proficient, the vehicle can be quickly parked in the target parking space, thereby avoiding traffic congestion and reducing the time drivers spend parking.

[0152] In the description of this specification, the reference terms "certain embodiments", "in an example", "exemplarily", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are mutually inconsistent.

[0153] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0154] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle control method, characterized in that: include: Determining a parking route for the vehicle based on parking space information, vehicle information, and environmental information; According to the parking route of the vehicle, the vehicle is controlled to park in a target parking space.

2. The vehicle control method according to claim 1, characterized in that: The parking route includes a straight-line-single-arc parking route and a straight-line-double-arc parking route. The determining of the parking route of the vehicle based on parking space information, vehicle information, and environmental information includes: inputting the parking space information, the vehicle information, and the environmental information into a preset straight-line-single-arc algorithm to determine whether the vehicle can park into the target parking space via the straight-line-single-arc parking route, and determining the straight-line-single-arc parking route if the vehicle can park into the target parking space via the straight-line-single-arc parking route; If the vehicle cannot park into the target parking space via the straight-line-single-arc parking route, input the parking space information, the vehicle information, and the environmental information into a preset straight-line-double-arc algorithm to determine whether the vehicle can park into the target parking space; and if the vehicle can park into the target parking space via the straight-line-double-arc parking route, determine the straight-line-double-arc parking route; In the case that the vehicle cannot park into the target parking space via the straight-line-double-circular parking route, a parking failure message is sent.

3. The vehicle control method according to claim 2, characterized in that: Inputting the parking space information, the vehicle information, and the environmental information into a preset straight-line-single-arc algorithm to determine whether the vehicle can park into the target parking space via the straight-line-single-arc parking route, and determining the straight-line-single-arc parking route if the vehicle can park into the target parking space via the straight-line-single-arc parking route, includes: Determining a target coordinate system based on the parking space information, the vehicle information, and the environmental information, the target coordinate system including the starting coordinates of the vehicle, the ending coordinates of the vehicle, and a first tilt angle, where the first tilt angle is the angle between the central axis of the vehicle and the horizontal axis of the target coordinate system; determining, based on the starting coordinates, the ending coordinates, and the first inclination angle, whether the vehicle can park into the target parking space via the straight-line-single-circular parking route, and determining a first turning route and a first straight-line route in the target coordinate system if the vehicle can park into the target parking space via the straight-line-single-circular parking route; The straight-line-single-arc parking route is determined according to the first turning route and the first straight-line route.

4. The vehicle control method according to claim 3, characterized in that: The determining, based on the starting coordinates, the ending coordinates, and the first inclination angle, whether the vehicle can park into the target parking space via the straight-line-single-circular parking route, and determining a first turning route and a first straight-line route in the target coordinate system if the vehicle can park into the target parking space via the straight-line-single-circular parking route includes: Assume that a point on the vertical axis of the coordinate system is the center of the first turning route, the coordinate value of the center is (0, R), and the first turning route is a route formed by turning with R as a radius and the first inclination angle as a central angle; Obtaining coordinates of a starting point of the first turning route based on the coordinate values of the center of the first turning route and the first inclination angle, wherein an angle between a line connecting the starting point of the first turning route and the center of the first turning route and a longitudinal axis of the coordinate system is the first inclination angle; Obtaining a turning radius of the first turning route and a length of the first straight line route according to the coordinates of the starting point of the first turning route, the starting coordinates, the end coordinates, the first inclination angle, and a preset straight line-single arc relationship; When both the radius of the first turning route and the length of the first straight route have real values greater than zero, the first turning route is determined based on the radius of the first turning route, the end point coordinates, and the first inclination angle, and the first straight route is determined based on the length of the first straight route, the coordinates of the starting point of the first turning route, and the starting coordinates.

5. The vehicle control method according to claim 4, characterized in that: The control method further includes: If neither the radius of the first turning route nor the length of the first straight route has a real value greater than zero, it is determined that the vehicle cannot park in the target parking space via the straight-single-circular parking route.

6. The vehicle control method according to claim 2, characterized in that: If the vehicle cannot park into the target parking space via the straight-line-single-arc parking route, inputting the parking space information, the vehicle information, and the environmental information into a preset straight-line-double-arc algorithm to determine whether the vehicle can park into the target parking space, and if the vehicle can park into the target parking space via the straight-line-double-arc parking route, determining the straight-line-double-arc parking route, including: Determining a target coordinate system based on the parking space information, the vehicle information, and the environmental information, the target coordinate system including the starting coordinates of the vehicle, the ending coordinates of the vehicle, and a first tilt angle, where the first tilt angle is the angle between the central axis of the vehicle and the horizontal axis of the target coordinate system; determining, based on the vehicle information, the starting coordinates, the ending coordinates, and the first tilt angle, whether the vehicle can park into the target parking space via the straight-line-double-circular parking route, and determining, in the target coordinate system, a second turning route, a third turning route, and a second straight route if the vehicle can park into the target parking space via the straight-line-double-circular parking route; The straight-line-double-arc parking route is determined according to the second turning route, the third turning route, and the second straight route.

7. The vehicle control method according to claim 6, characterized in that: The determining, based on the vehicle information, the starting coordinates, the ending coordinates, and the first tilt angle, whether the vehicle can park into the target parking space via the straight-line-double-circular parking route, and determining a second turning route, a third turning route, and a second straight line route in the target coordinate system if the vehicle can park into the target parking space via the straight-line-double-circular parking route, includes: Assuming a point on the vertical axis of the coordinate system as the center of the second turning route, assuming an angle as the central angle of the second turning route, and assuming the radius of the second turning route as the minimum turning radius of the vehicle; Obtaining the coordinates of the starting point of the second turning route according to the coordinate values of the center of the second turning route and the central angle of the second turning route; Determining the coordinates of the starting point of a third turning route based on the first inclination angle, the coordinates of the starting point of the second turning route, the radius of the second turning route, and the central angle of the second turning route, wherein the angle between the longitudinal axis of the coordinate axis and a line connecting the starting point of the third turning route and the center of the third turning route is the first inclination angle, and the radius of the third turning route is equal to the radius of the second turning route; Substituting the starting coordinates, the starting point coordinates of the second turning route, the starting point coordinates of the third turning route, the end point coordinates, the radius of the second turning route, and the first inclination angle into a preset straight line-double arc route relationship to obtain the central angle of the second turning route and the length of the second straight line route; When the central angle of the second turning route and the length of the second straight route both have real values greater than zero, the second turning route is determined based on the central angle of the second turning route, the end point coordinates, and the radius of the second turning route, and the third turning route is determined based on the starting point coordinates of the second turning route, the central angle of the second turning route, and the first inclination angle, and the second straight route is determined based on the starting point coordinates of the third turning route, the length of the second straight route, and the starting coordinates.

8. The vehicle control method according to claim 7, characterized in that: The control method further includes: If neither the central angle of the second turning route nor the length of the second straight route has a real value greater than zero, it is determined that the vehicle cannot park in the target parking space via the straight-line-double-circular parking route.

9. The vehicle control method according to claim 1, characterized in that: After controlling the vehicle to park in a target parking space according to the parking route of the vehicle, the control method further includes: determining whether the vehicle is parked successfully based on image information around the vehicle; When the vehicle is successfully parked, the steering wheel of the vehicle is controlled to return to the center position, and / or the gear position of the vehicle is controlled to be restored, and / or the vehicle is controlled to be parked and turned off.

10. The vehicle control method according to claim 1, characterized in that: The control method further includes: In response to a user's instruction, entering a parking space search mode, and determining a parking space type around the vehicle based on the parking space information, the vehicle information, and the environment information; In a case where there is an idle parallel parking space around the vehicle, the idle parallel parking space is determined as the target parking space.

11. The vehicle control method according to claim 10, characterized in that: The determining, based on the parking space information, the vehicle information, and the environment information, the parking space type around the vehicle includes: Determining, based on the environmental information, an empty parking space around the vehicle as a transitional parking space; The parallel parking space is selected from the transition parking space according to the parking space information, the vehicle information and the environment information.

12. The vehicle control method according to claim 1, characterized in that: The control method further includes: When the driving distance of the vehicle reaches a preset driving distance threshold, a parking failure message is sent.

13. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory is configured to store a computer program, and the processor implements the control method according to any one of claims 1 to 12 when executing the computer program.

14. A vehicle, characterized in that: The electronic device comprising claim 13.

15. A computer program product having a computer program (202) stored thereon, characterized in that When the program is executed by the processor (20), the control method according to any one of claims 1 to 12 is implemented.

Images