Parking method, device and vehicle

Abstract

This application provides a parking method, apparatus, and vehicle, which can be applied to the field of intelligent driving. The method includes: receiving a first instruction from a user, the first instruction instructing the vehicle to park in a target parking space using a remote parking assist (RPA) function, wherein a temporary obstacle is placed in the target parking space; in response to receiving the first instruction, sending a second instruction to a mobile terminal and controlling a prompting device to prompt the user to get out of the vehicle and remove the temporary obstacle, the second instruction being used to instruct the vehicle to park in the target parking space using the RPA function; and upon detecting that the user has gotten out of the vehicle and receiving a third instruction sent by the mobile terminal, controlling the vehicle to park in the target parking space, the third instruction being used to instruct the vehicle to park in the target parking space. This application can be applied to intelligent vehicles or electric vehicles, helping to reduce the cumbersome operations for users when using RPA functions, thereby improving the user's parking experience.

Description

[0001] This application claims priority to Chinese Patent Application No. 202410193467.6, filed with the China National Intellectual Property Administration on February 21, 2024, entitled "Parking Method, Apparatus and Vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of intelligent driving, and more specifically, to a parking method, apparatus, and vehicle. Background Technology

[0003] Automated parking (AP) refers to the automatic parking of a vehicle, meaning that an autonomous driving system can semi-automatically or fully automatically help the user park the vehicle in a parking space. Automated parking can include automated parking assist (APA), remote parking assist (RPA), and automated valet parking (AVP), among others.

[0004] Currently, users can only use the RPA function when the target parking space is vacant, which limits the application scenarios of the RPA function and affects the user's parking experience. Summary of the Invention

[0005] This application provides a parking method, device, and vehicle that helps reduce cumbersome operations for users when using RPA functions, thereby improving the user's parking experience.

[0006] In a first aspect, a parking method is provided, the method comprising: receiving a first instruction from a user, the first instruction instructing the vehicle to park in a target parking space via a remote parking assist (RPA) function, wherein a temporary obstacle is placed in the target parking space; in response to receiving the first instruction, sending a second instruction to a mobile terminal and a control prompting device prompting the user to get out of the vehicle and remove the temporary obstacle, the second instruction being used to instruct the vehicle to park in the target parking space via the RPA function; and, upon detecting that the user has gotten out of the vehicle and receiving a third instruction sent by the mobile terminal, controlling the vehicle to park in the target parking space, the third instruction being used to instruct the vehicle to park in the target parking space.

[0007] When a parking space is temporarily occupied, it will not be released (or it will remain an unreleased space). In this situation, the user cannot select the space, or use the APA or RPA functions to park there. The user must first get out of the car to remove the temporary obstacle and then get back in to activate the automatic parking function. This results in a poor parking experience for the user.

[0008] Based on the above technical solution, the vehicle can identify parking spaces occupied by temporary obstacles (the parking spaces are in a released state). Users can select the parking space occupied by the temporary obstacle as the target parking space and use the RPA function to park in it. When the vehicle detects that the user has selected the RPA function, it can prompt the user to get out of the car and remove the temporary obstacle. This eliminates the need for the user to get out of the car to remove the temporary obstacle and then get back in to select the RPA function, reducing cumbersome operations and improving the user's parking experience.

[0009] In some possible implementations, a wireless connection (e.g., Bluetooth connection) can be established between the mobile terminal and the vehicle.

[0010] In some possible implementations, receiving the user's first instruction includes receiving the user's action of clicking the RPA function on the vehicle's display screen.

[0011] In some possible implementations, the control prompting device prompts the user to get out of the vehicle and remove the temporary obstacle, including: controlling the vehicle's display screen to show a prompting message for prompting the user to get out of the vehicle and remove the temporary obstacle.

[0012] The temporary obstacles mentioned above can be placed in the parking space or along the parking path of the vehicle as it enters the target parking space. The following explanation uses temporary obstacles placed in the parking space as an example.

[0013] In some possible implementations, the mobile terminal can be a mobile phone, a tablet computer, or a wearable electronic device with wireless communication capabilities (such as a smartwatch).

[0014] In conjunction with the first aspect, in some implementations of the first aspect, before receiving the user's first instruction, the method further includes: obtaining information on one or more parking spaces, including the target parking space; and upon receiving the user's fourth instruction, controlling the prompting device to indicate that a temporary obstacle is placed on the target parking space and that only the RPA function is supported for the target parking space, wherein the fourth instruction is an instruction for the user to select the target parking space.

[0015] Based on the above technical solution, the vehicle can identify parking spaces occupied by temporary obstacles (the parking spaces occupied by temporary obstacles are in a released state) and prompt the user that only the RPA function is supported for that parking space. In this way, the user can select the parking space as the target parking space before the temporary obstacle is removed, without the user having to get out of the car to remove the temporary obstacle and then get back in to select the RPA function. This reduces the cumbersome operation when using the RPA function and improves the user's parking experience.

[0016] In some possible implementations, the system controls the alerting device to indicate that a temporary obstacle has been placed in the target parking space, including by controlling the vehicle's display screen to show the target parking space.

[0017] In some possible implementations, the one or more parking spaces include vacant parking spaces and parking spaces occupied by temporary obstacles. The method further includes: when information about one or more parking spaces is obtained, controlling the vehicle's display screen to display the information about the one or more parking spaces, the control corresponding to the APA function, and the control corresponding to the RPA function; when an operation by a user to select the target parking space through the display screen is detected, controlling the display screen to show that the control corresponding to the APA function cannot be clicked and the control corresponding to the RPA function can be clicked.

[0018] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: when the distance between the vehicle and the temporary obstacle is less than or equal to a preset distance, controlling the vehicle to stop parking in the target parking space and sending a fifth instruction to the mobile terminal, the fifth instruction being used to instruct the mobile terminal to prompt the user to remove the temporary obstacle.

[0019] Based on the above technical solution, during the process of a vehicle automatically parking in a target parking space using the RPA function, if the distance between the vehicle and a temporary obstacle is less than or equal to a preset distance, the vehicle can stop parking in the target parking space and send a fifth instruction to the mobile terminal. In this way, the mobile terminal can prompt the user to remove the temporary obstacle, allowing the vehicle to continue parking in the target parking space after the user removes the temporary obstacle.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: when the user is detected to have removed the temporary obstacle within a first preset time period, controlling the vehicle to continue parking in the target parking space.

[0021] Based on the above technical solution, when the user removes the temporary obstacle within the first preset time period, the vehicle can continue to automatically park in the target parking space. In this way, after seeing the prompt on the mobile terminal, the user only needs to remove the temporary obstacle to allow the vehicle to continue automatically parking in the target parking space, thus improving the user's parking experience.

[0022] In some possible implementations, the vehicle can be in a PRA automatic recovery state during the first preset time period. That is, as long as the vehicle detects that the temporary obstacle has been removed within the first preset time period, it can automatically restore the RPA function and continue to control the vehicle to park in the target parking space.

[0023] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: when no user is detected removing the temporary obstacle within a first preset time period, sending a sixth instruction to the mobile terminal, the sixth instruction indicating that the temporary obstacle has not been removed within the first preset time period.

[0024] In some possible implementations, the method further includes: if the user does not remove the temporary obstacle within a first preset time period, controlling the vehicle to switch to parking gear.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: upon receiving a seventh instruction sent by the mobile terminal and detecting that the temporary obstacle has been removed, controlling the vehicle to continue parking in the target parking space, the seventh instruction being used to instruct the restoration of the PRA function.

[0026] Based on the above technical solution, when the vehicle receives the seventh instruction sent by the mobile terminal and detects that the temporary obstacle has been removed, the vehicle can resume the RPA function and continue to control the vehicle to park in the target parking space.

[0027] In some possible implementations, when the seventh instruction sent by the mobile terminal is received and the temporary obstacle is detected to have been removed, the vehicle is controlled to continue parking in the target parking space, including: within a second preset time period, when the seventh instruction sent by the mobile terminal is received and the temporary obstacle is detected to have been removed, the vehicle is controlled to continue parking in the target parking space.

[0028] In some possible implementations, the vehicle can be in a passive PRA recovery state during the second preset time period. That is, the vehicle needs to receive the seventh instruction (PRA function recovery instruction) sent by the mobile terminal and detect that the temporary obstacle has been removed within the second preset time period in order to restore the RPA function and continue to control the vehicle to park in the target parking space.

[0029] Secondly, a parking method is provided, the method comprising: receiving a second instruction sent by a vehicle, the second instruction being used to instruct the vehicle to park in a target parking space via an RPA function, the target parking space being a parking space identified by the vehicle and having temporary obstacles placed thereon; according to the second instruction, controlling a display device to display a first interface, the first interface including a first control, the first control being a control for activating the RPA function; and upon receiving a first input from a user to the first control, sending a third instruction to the vehicle, the third instruction being used to instruct the vehicle to begin parking in the target parking space.

[0030] Based on the above technical solution, the mobile terminal can display a remote parking interface when it receives the second command sent by the vehicle. Upon receiving a user's command to activate the RPA function, it can instruct the vehicle to park in the target parking space. This allows the user to activate the RPA function on their mobile phone while simultaneously removing temporary obstacles, or vice versa (or the user can remove the temporary obstacle while the vehicle is parking in the target space using the RPA function). This helps improve parking efficiency and thus enhances the user's parking experience.

[0031] In some possible implementations, the method further includes: receiving information about the vehicle, temporary obstacles, and parking spaces sent by the vehicle; and displaying the information about the vehicle, temporary obstacles, and parking spaces through the first interface.

[0032] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: when a user’s first input to the first control is received, controlling the display device to switch from displaying the first interface to displaying the second interface, the second interface being the display interface for the vehicle to be parked in the target parking space.

[0033] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: receiving a fifth instruction sent by the vehicle, the fifth instruction being used to instruct the mobile terminal to prompt the user to remove the temporary obstacle; and, according to the fifth instruction, controlling the display device to switch from displaying the second interface to displaying a third interface, the third interface including a first prompt message, the first prompt message being used to prompt the user to remove the temporary obstacle.

[0034] Based on the above technical solution, when the fifth instruction sent by the vehicle is received, the mobile terminal can display the first prompt information through the third interface, thereby prompting the user to remove the temporary obstacle so that the vehicle can be parked in the target parking space.

[0035] In some possible implementations, controlling the display device to switch from displaying the second interface to displaying the third interface according to the fifth instruction includes: controlling the display device to switch from displaying the second interface to displaying the third interface and controlling the mobile terminal to vibrate according to the fifth instruction.

[0036] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: receiving a sixth instruction sent by the vehicle, the sixth instruction indicating that the temporary obstacle has not been removed within a first preset time period; and, according to the sixth instruction, controlling the display device to switch from displaying the third interface to displaying the fourth interface, the fourth interface including a second prompt message, the second prompt message being used to indicate that the RPA function has been suspended.

[0037] Based on the above technical solution, when the vehicle receives the sixth instruction sent by the vehicle, the vehicle can display the second prompt information through the fourth interface, thereby prompting the user that the RPA function has been suspended.

[0038] In some possible implementations, the fourth interface also includes gear information indicating that the vehicle is in parking gear.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, the fourth interface also includes a second control, which is a control for restoring the automatic parking function. The method further includes: when a second input from the user to the second control is obtained, sending a seventh instruction to the vehicle, which is used to instruct the restoration of the PRA function.

[0040] Based on the above technical solution, users can restore the RPA function through the second control on the fourth interface. After receiving the seventh instruction and detecting that the temporary obstacle has been removed, the vehicle can restore the RPA function and continue to park in the target parking space.

[0041] Thirdly, a parking device is provided, comprising: a receiving unit for receiving a first instruction from a user, the first instruction instructing the vehicle to park in a target parking space via a remote parking assist (RPA) function, wherein a temporary obstacle is placed in the target parking space; a sending unit for responding to receiving the first instruction by sending a second instruction to a mobile terminal and controlling a prompting device to prompt the user to get out of the vehicle and remove the temporary obstacle, the second instruction instructing the vehicle to park in the target parking space via the RPA function; and a control unit for controlling the vehicle to park in the target parking space when detecting that the user has gotten out of the vehicle and receiving a third instruction sent by the mobile terminal, the third instruction instructing the vehicle to park in the target parking space.

[0042] In conjunction with the third aspect, in some implementations of the third aspect, the device further includes: an acquisition unit, configured to acquire information on one or more parking spaces, including the target parking space, before the receiving unit receives the user's first instruction; and a control unit, configured to, when the receiving unit receives the user's fourth instruction, control the prompting device to indicate that a temporary obstacle is placed on the target parking space and that only the RPA function is supported for the target parking space, wherein the fourth instruction is an instruction from the user to select the target parking space.

[0043] In conjunction with the third aspect, in some implementations of the third aspect, the control unit is further configured to control the vehicle to stop parking in the target parking space and send a fifth instruction to the mobile terminal when the distance between the vehicle and the temporary obstacle is less than or equal to a preset distance. The fifth instruction is used to instruct the mobile terminal to prompt the user to remove the temporary obstacle.

[0044] In conjunction with the third aspect, in some implementations of the third aspect, the control unit is also configured to control the vehicle to continue parking in the target parking space when it detects that the user has removed the temporary obstacle within a first preset time period.

[0045] In conjunction with the third aspect, in some implementations of the third aspect, the sending unit is further configured to send a sixth instruction to the mobile terminal when the control unit does not detect that the user has removed the temporary obstacle within a first preset time period, the sixth instruction indicating that the temporary obstacle has not been removed within the first preset time period.

[0046] In conjunction with the third aspect, in some implementations of the third aspect, the control unit is further configured to control the vehicle to continue parking in the target parking space when the receiving unit receives the seventh instruction sent by the mobile terminal and detects that the temporary obstacle has been removed, wherein the seventh instruction is used to instruct the PRA function to be restored.

[0047] Fourthly, a parking device is provided, comprising: a receiving unit for receiving a second instruction sent by a vehicle, the second instruction being used to instruct the vehicle to park in a target parking space via the RPA function, the target parking space being a parking space identified by the vehicle and containing temporary obstacles; a control unit for controlling a display device to display a first interface according to the second instruction, the first interface including a first control, the first control being a control for activating the RPA function; and a sending unit for sending a third instruction to the vehicle when the acquiring unit acquires a first input from the user to the first control, the third instruction being used to instruct the vehicle to begin parking in the target parking space.

[0048] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the control unit is further configured to, when the acquisition unit acquires the user's first input to the first control, control the display device to switch from displaying the first interface to displaying the second interface, the second interface being the display interface for the vehicle parking in the target parking space; the receiving unit is further configured to receive a fifth instruction sent by the vehicle, the fifth instruction being used to instruct the mobile terminal to prompt the user to remove the temporary obstacle; the control unit is further configured to, according to the fifth instruction, control the display device to switch from displaying the second interface to displaying the third interface, the third interface including a first prompt message, the first prompt message being used to prompt the user to remove the temporary obstacle.

[0049] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the receiving unit is further configured to receive a sixth instruction sent by the vehicle, the sixth instruction indicating that the temporary obstacle has not been removed within a first preset time period; the control unit is further configured to control the display device to switch from displaying the third interface to displaying the fourth interface according to the sixth instruction, the fourth interface including a second prompt message, the second prompt message being used to indicate that the RPA function has been suspended.

[0050] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the fourth interface also includes a second control, which is a control for restoring the automatic parking function. The sending unit is also used to send a seventh instruction to the vehicle when the acquiring unit obtains the user's second input to the second control. The seventh instruction is used to instruct the restoration of the PRA function.

[0051] Fifthly, a parking device is provided, the device including a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to cause the device to perform any of the possible parking methods in the first aspect.

[0052] In a sixth aspect, a parking device is provided, the device including a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to cause the device to perform any of the possible parking methods in the second aspect.

[0053] In a seventh aspect, a control system is provided, which includes the aforementioned vehicle and mobile terminal.

[0054] Eighthly, this application provides a vehicle that includes any of the possible devices described in the third or fifth aspect above.

[0055] Ninthly, this application provides a mobile terminal that includes any one of the possible devices in the fourth or sixth aspects described above.

[0056] In a tenth aspect, this application provides a computer program product comprising: computer program code, which, when executed on a computer, causes the computer to perform any one of the possible parking methods described in the first or second aspect above.

[0057] It should be noted that the above-mentioned computer program code can be stored in whole or in part on the first storage medium, wherein the first storage medium can be packaged together with the processor or packaged separately from the processor. This application embodiment does not specifically limit this.

[0058] In one aspect, this application provides a computer-readable medium storing program code that, when executed on a computer, causes the computer to perform any of the possible parking methods described in the first or second aspect above.

[0059] In a twelfth aspect, this application provides a chip including circuitry for performing any of the possible methods described in the first or second aspect above.

[0060] In a thirteenth aspect, this application provides a parking method, the method comprising: determining a target parking space, the target parking space being in an occupied state; determining a parking mode, the parking mode including exit parking; and controlling a vehicle to park in the target parking space in response to the target parking space being in an vacant state.

[0061] Based on the above technical solution, even when the target parking space is occupied, users can still choose the "away parking" mode. When the target parking space becomes available, users can park there using the "away parking" mode. This eliminates the need for users to get out of their car, remove the obstacle, and then get back in to select "away parking," reducing cumbersome operations and improving the user's parking experience.

[0062] In some possible implementations, determining a target parking space includes: receiving a first instruction from the user that indicates the target parking space selected by the user.

[0063] In some possible implementations, a target parking space is determined, including determining the target parking space from multiple parking spaces based on one or more of the following: parking distance, parking duration, or number of times the vehicle darts into the parking space.

[0064] In some possible implementations, identifying a target parking space includes: when a user's designated parking space is detected around the vehicle, identifying that designated parking space as the target parking space.

[0065] In some possible implementations, determining the parking mode includes receiving a second instruction from the user that indicates the parking mode selected by the user.

[0066] In some possible implementations, determining the parking mode includes: determining the parking mode based on the status of the target parking space. For example, when the target parking space is occupied, the parking mode can be determined to be either off-the-go parking or remote-controlled parking.

[0067] In conjunction with aspect thirteen, in certain implementations of aspect thirteen, controlling the vehicle to park in the target parking space in response to the target parking space being vacant includes: in response to determining the parking mode and the target parking space being occupied, controlling the vehicle to output a first prompt message, the first prompt message indicating that the parking space cannot be activated and / or indicating that the user needs to update the status of the target parking space to vacant; and controlling the vehicle to park in the target parking space in response to the target parking space being updated to vacant.

[0068] Based on the above technical solution, when the target parking space is occupied, the vehicle can output a first prompt message. This prompts the user to remove obstacles from the parking space so that the vehicle can be parked in the target space.

[0069] In conjunction with aspect thirteen, in some implementations of aspect thirteen, controlling the vehicle to park in the target parking space in response to the target parking space being vacant includes: in response to determining the parking mode and the target parking space being occupied, controlling the vehicle to drive from the starting position to the vicinity of the target parking space and then stopping; and in response to the target parking space being updated to be vacant, controlling the vehicle to park in the target parking space.

[0070] Based on the above technical solution, when the target parking space is occupied, the vehicle can also be activated to leave and park, and then stop after driving to the vicinity of the target parking space. When the target parking space is updated to be vacant, the vehicle can continue to park in that target parking space.

[0071] In conjunction with aspect thirteen, in some implementations of aspect thirteen, determining the parking mode, wherein the target parking space is in an occupied state, and the vehicle stops after driving from the starting position to the vicinity of the target parking space, further includes: controlling the vehicle to output a second prompt message, the second prompt message being used to instruct the user to update the status of the target parking space to vacant, the output method of the second prompt message including at least one of the following: flashing headlights, sound, or pushing prompt message to a mobile terminal.

[0072] Based on the above technical solution, when the vehicle comes to a stop near the target parking space, a second prompt message can be output. This prompts the user to remove any obstacles in the parking space so that the vehicle can be parked in the target space.

[0073] In conjunction with aspect thirteen, in some implementations of aspect thirteen, before determining the parking mode, the method further includes: receiving an instruction from the user that instructs the user to activate parking; and, in response to the received instruction, controlling the vehicle to travel from its starting position to the vicinity of the target parking space and then braking to a stop.

[0074] In some possible implementations, receiving the user's instructions includes receiving the user's instruction to select an APA.

[0075] Based on the above technical solution, when the target parking space is occupied, the user can activate parking. After parking is activated, the vehicle can drive to the vicinity of the target parking space and stop, then continue using the exit parking method. When the target parking space is vacant, the vehicle can continue parking in the target parking space using the exit parking method. In this way, after activating the exit parking method, the vehicle can connect with the APA to continue parking in the target parking space.

[0076] In a fourteenth aspect, this application provides a parking method, the method comprising: determining a target parking space, the target parking space being in an occupied state; determining a parking mode, the parking mode including remote-controlled parking; and, in response to the target parking space being in an vacant state, controlling a vehicle to park in the target parking space using the remote-controlled parking method.

[0077] Based on the above technical solution, even when the target parking space is occupied, the user can still choose remote parking. When the target parking space becomes available, the user can park in the target space remotely. This eliminates the need for the user to get out of the car, remove the obstacle, and then get back in to select remote parking, reducing cumbersome operations and improving the user's parking experience.

[0078] In conjunction with the fourteenth aspect, in certain implementations of the fourteenth aspect, controlling the vehicle to park in the target parking space using the remote-controlled parking system in response to the target parking space being in an available state includes: in response to determining the parking mode and the target parking space being in an occupied state, controlling the vehicle to output a first prompt message, the first prompt message indicating that the remote-controlled parking system cannot be activated or indicating that the user needs to update the state of the target parking space to be available; and controlling the vehicle to park in the target parking space in response to the target parking space being updated to be available.

[0079] Based on the above technical solution, the vehicle can output prompts to promptly remind the user to remove obstacles from the target parking space. When the target parking space status is updated to vacant, remote parking can be activated and the vehicle can be controlled to park in the target parking space.

[0080] In conjunction with the fourteenth aspect, in some implementations of the fourteenth aspect, controlling the vehicle to output a first prompt message includes: sending a first message to a mobile terminal, the first message indicating that the target parking space is occupied, the mobile terminal being used to prompt that the remote parking cannot be activated and / or to prompt the user that the target parking space needs to be updated to be available.

[0081] Based on the above technical solution, the vehicle can send a first message to the mobile terminal, causing the mobile terminal to indicate that the remote parking cannot be activated and / or prompt the user to update the status of the target parking space to vacant. This allows the user to promptly remove obstacles from the target parking space after seeing the prompt on the mobile terminal, enabling the vehicle to park in the target parking space as quickly as possible.

[0082] In conjunction with the fourteenth aspect, in certain implementations of the fourteenth aspect, controlling the vehicle to park in the target parking space using the remote-controlled parking system in response to the target parking space being vacant includes: in response to receiving an instruction sent by the mobile terminal, the instruction being used by the user to activate the remote-controlled parking system on the mobile terminal, and the target parking space being occupied, controlling the vehicle to drive from the starting position to the vicinity of the target parking space and then stopping; and in response to the target parking space being updated to be vacant, controlling the vehicle to park in the target parking space.

[0083] Based on the above technical solution, when the target parking space is occupied, the vehicle can activate remote parking upon receiving a command from the mobile terminal and then brake to a stop near the target parking space. When the target parking space becomes available, the vehicle can continue to park itself remotely. This allows the vehicle to activate remote parking even when the target parking space is occupied, thus expanding the capabilities of remote parking.

[0084] In conjunction with the fourteenth aspect, in some implementations of the fourteenth aspect, before receiving the second instruction from the user, the method further includes: receiving another instruction from the user, the other instruction instructing the user to activate parking; and, in response to the received other instruction, controlling the vehicle to travel from the starting position to the vicinity of the target parking space and then braking to a stop.

[0085] In some possible implementations, receiving another instruction from the user includes receiving an instruction from the user to select an APA.

[0086] Based on the above technical solution, when the target parking space is occupied, the user can activate parking. After parking is activated, the vehicle drives to the vicinity of the target parking space and stops, allowing the user to continue using remote parking. When the target parking space is vacant, the vehicle can continue parking in the target space using remote parking. In this way, after activating remote parking, the vehicle can connect to the APA (Automatic Parking Assist) to continue parking in the target space.

[0087] In a fifteenth aspect, this application provides a parking method, the method comprising: receiving a first message sent by a vehicle, the first message indicating that the status of a target parking space is occupied; in response to the first message, a control prompting device prompts that a parking mode cannot be activated, and / or prompts a user that the status of the target parking space needs to be updated to vacant, the parking mode including any one of the following: parking away from the vehicle, remote control parking.

[0088] In conjunction with the fifteenth aspect, in some implementations of the fifteenth aspect, the parking mode is remote-controlled parking, and the method further includes: receiving a second message sent by the vehicle, the second message indicating that the target parking space is vacant; in response to the second message, a control display device prompts a user to activate the remote-controlled parking; in response to the user's input to activate the remote-controlled parking, sending a third message to the vehicle, the third message indicating the activation of the remote-controlled parking.

[0089] In conjunction with aspect fifteen, in some implementations of aspect fifteen, the first message is also used to instruct the vehicle to drive to the vicinity of the target parking space.

[0090] In conjunction with the fifteenth aspect, in some implementations of the fifteenth aspect, prior to receiving the first message sent by the receiving vehicle, the method further includes: receiving a fourth message sent by the vehicle, the fourth message indicating that the vehicle is moving away from the target parking space; and in response to the fourth message, a control prompting device prompts a user to activate the remote parking.

[0091] In conjunction with the fifteenth aspect, in some implementations of the fifteenth aspect, the parking mode is off-vehicle parking, and the method further includes: receiving a fifth message sent by the vehicle, the fifth message indicating that the target parking space is vacant; and in response to the fifth message, a control prompting device prompting that off-vehicle parking has been activated.

[0092] In a sixteenth aspect, this application provides a parking device, the device comprising: a determining unit for determining a target parking space, the target parking space being in an occupied state; the determining unit further for determining a parking mode, the parking mode including exit parking; and a control unit for controlling a vehicle to park in the target parking space in response to the target parking space being in an vacant state.

[0093] In conjunction with the sixteenth aspect, in some implementations of the sixteenth aspect, the control unit is specifically configured to: in response to the determining unit determining the parking mode and the target parking space being occupied, control the vehicle to output a first prompt message, the first prompt message indicating that parking out cannot be activated and / or indicating that the user needs to update the status of the target parking space to vacant; and in response to the target parking space being updated to vacant, control the vehicle to park in the target parking space.

[0094] In conjunction with the sixteenth aspect, in some implementations of the sixteenth aspect, the control unit is specifically configured to: in response to the determining unit determining the parking mode and the target parking space being occupied, control the vehicle to drive from the starting position to the vicinity of the target parking space and then brake to a stop; in response to the target parking space being updated to be vacant, control the vehicle to park in the target parking space.

[0095] In conjunction with the sixteenth aspect, in some implementations of the sixteenth aspect, the control unit is further configured to: control the vehicle to output a second prompt message, the second prompt message being used to instruct the user to update the status of the target parking space to vacant, the output method of the second prompt message including at least one of the following: flashing headlights, sound, or pushing prompt message to a mobile terminal.

[0096] In conjunction with the sixteenth aspect, in some implementations of the sixteenth aspect, the device further includes: a receiving unit configured to receive an instruction from the user before the determining unit determines the parking mode, the instruction instructing the user to activate parking; and a control unit configured to, in response to the received instruction, control the vehicle to travel from its starting position to the vicinity of the target parking space and then brake to a stop.

[0097] In a seventeenth aspect, this application provides a parking device, the device comprising: a determining unit for determining a target parking space, the target parking space being in an occupied state; the determining unit further for determining a parking mode, the parking mode including remote-controlled parking; and a control unit for controlling a vehicle to park in the target parking space using the remote-controlled parking method in response to the target parking space being in an vacant state.

[0098] In conjunction with the seventeenth aspect, in some implementations of the seventeenth aspect, the control unit is specifically configured to: in response to the determining unit determining the parking mode and the target parking space being occupied, control the vehicle to output a first prompt message, the first prompt message indicating that the remote parking cannot be activated or indicating that the user needs to update the status of the target parking space to vacant; and in response to the target parking space being updated to vacant, control the vehicle to park in the target parking space.

[0099] In conjunction with the seventeenth aspect, in some implementations of the seventeenth aspect, the control unit is specifically configured to: send a first message to a mobile terminal, the first message indicating that the target parking space is occupied, and the mobile terminal is configured to prompt that the remote parking cannot be activated and / or prompt the user that the status of the target parking space needs to be updated to vacant.

[0100] In conjunction with the seventeenth aspect, in some implementations of the seventeenth aspect, the control unit is specifically configured to: in response to receiving an instruction sent by the mobile terminal, the instruction being used by the user to activate the remote parking on the mobile terminal, wherein the target parking space is in an occupied state, control the vehicle to drive from the starting position to the vicinity of the target parking space and then brake to a stop; in response to the target parking space being updated to an vacant state, control the vehicle to park in the target parking space.

[0101] In conjunction with the seventeenth aspect, in some implementations of the seventeenth aspect, the apparatus further includes: a receiving unit configured to receive another instruction from the user before the determining unit determines the parking mode, the other instruction instructing the user to activate parking; and, in response to the received other instruction, to control the vehicle to travel from the starting position to the vicinity of the target parking space and then to a stop.

[0102] Eighteenthly, this application provides a parking device, the device comprising: a receiving unit for receiving a first message sent by a vehicle, the first message indicating that the status of a target parking space is occupied; and a control unit for responding to the first message to control a prompting device to prompt that a parking mode cannot be activated, and / or to prompt a user that the status of the target parking space needs to be updated to vacant, the parking mode including any one of the following: parking away from the vehicle, remote control parking.

[0103] In conjunction with the eighteenth aspect, in some implementations of the eighteenth aspect, the parking mode is remote-controlled parking. The receiving unit is further configured to receive a second message sent by the vehicle, the second message indicating that the target parking space is vacant. The control unit is further configured to, in response to the second message, control the display device to prompt the user to activate the remote-controlled parking. The device further includes a sending unit configured to, in response to the user's input to activate the remote-controlled parking, send a third message to the vehicle, the third message indicating that the remote-controlled parking is activated.

[0104] In conjunction with the eighteenth aspect, in some implementations of the eighteenth aspect, the first message is also used to instruct the vehicle to drive to the vicinity of the target parking space.

[0105] In conjunction with the eighteenth aspect, in some implementations of the eighteenth aspect, the receiving unit is further configured to receive a fourth message sent by the vehicle before receiving the first message, the fourth message instructing the vehicle to move away from the target parking space; the control unit is further configured to, in response to the fourth message, control the prompting device to prompt the user to activate the remote parking.

[0106] In conjunction with the eighteenth aspect, in some implementations of the eighteenth aspect, the parking mode is off-vehicle parking, the receiving unit is further configured to receive a fifth message sent by the vehicle, the fifth message indicating that the target parking space is vacant; the control unit is further configured to respond to the fifth message by controlling the prompting device to indicate that off-vehicle parking has been activated.

[0107] In a nineteenth aspect, a parking device is provided, the device including a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to cause the device to perform any one of the possible parking methods in the thirteenth or fourteenth aspect.

[0108] In a twentieth aspect, a parking device is provided, the device including a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to cause the device to perform any of the possible parking methods in the fifteenth aspect.

[0109] In a twentieth aspect, a parking system is provided, the parking system including sensors and a computing platform, the computing platform including any one of the possible parking devices in the sixteenth, seventeenth or nineteenth aspects described above.

[0110] In a twentieth aspect, this application provides a vehicle that includes any one of the possible parking devices described in the sixteenth, seventeenth, or nineteenth aspects, or includes the parking system described in the twenty-first aspect.

[0111] In a twentieth aspect, this application provides a mobile terminal that includes any of the possible devices described in the eighteenth or twentieth aspects above.

[0112] In a twentieth aspect, this application provides a computer program product comprising: computer program code, which, when executed on a computer, causes the computer to perform any of the possible parking methods described in aspects thirteen through fifteen above.

[0113] It should be noted that the above-mentioned computer program code can be stored in whole or in part on the first storage medium, wherein the first storage medium can be packaged together with the processor or packaged separately from the processor. This application embodiment does not specifically limit this.

[0114] In a twentieth aspect, this application provides a computer-readable medium storing program code that, when executed on a computer, causes the computer to perform any of the possible parking methods described in aspects thirteen through fifteen above.

[0115] In a twentieth aspect, this application provides a chip including circuitry for performing any of the possible methods described in aspects thirteen through fifteen above. Attached Figure Description

[0116] Figure 1 This is a functional block diagram of a vehicle provided in an embodiment of this application.

[0117] Figure 2 This is a schematic block diagram of the ADAS provided in the embodiments of this application.

[0118] Figure 3 This is a set of human-machine interfaces (HMIs) provided in the embodiments of this application.

[0119] Figure 4 This is another set of HMIs provided in the embodiments of this application.

[0120] Figure 5 This is another set of HMIs provided in the embodiments of this application.

[0121] Figure 6 This is a schematic flowchart of the parking method provided in the embodiments of this application.

[0122] Figure 7 This is another schematic flowchart of the parking method provided in the embodiments of this application.

[0123] Figure 8 This is another schematic flowchart of the parking method provided in the embodiments of this application.

[0124] Figure 9 This is another schematic flowchart of the parking method provided in the embodiments of this application.

[0125] Figure 10 This application provides a schematic block diagram of a parking device.

[0126] Figure 11 This application provides another schematic block diagram of a parking device.

[0127] Figure 12 Another illustrative flowchart of the parking method provided in this application embodiment.

[0128] Figure 13 This is another set of HMIs provided in the embodiments of this application.

[0129] Figure 14 This is another set of HMIs provided in the embodiments of this application.

[0130] Figure 15 This is another set of HMIs provided in the embodiments of this application.

[0131] Figure 16 This is another set of HMIs provided in the embodiments of this application.

[0132] Figure 17 This is another set of HMIs provided in the embodiments of this application.

[0133] Figure 18 This is another set of HMIs provided in the embodiments of this application.

[0134] Figure 19 Another illustrative flowchart of the parking method provided in this application embodiment.

[0135] Figure 20 Another illustrative flowchart of the parking method provided in this application embodiment.

[0136] Figure 21 Another illustrative flowchart of the parking method provided in this application embodiment.

[0137] Figure 22 Another illustrative flowchart of the parking method provided in this application embodiment.

[0138] Figure 23 This application provides a schematic block diagram of a parking device.

[0139] Figure 24 This application provides another schematic block diagram of a parking device. Detailed Implementation

[0140] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; "and / or" in this document is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. "At least one" refers to one or more. For example, "at least one of A and B," similar to "A and / or B," describes the association relationship between related objects, indicating that three relationships can exist. For example, at least one of A and B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0141] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not constitute unnecessary restrictions due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0142] Figure 1 This is a functional block diagram of a vehicle 100 provided in an embodiment of this application. The vehicle 100 may include a sensing system 110, a computing platform 120, and a display device 130. The sensing system 110 may include one or more sensors for sensing information about the environment surrounding the vehicle 100. For example, the sensing system 110 may include a positioning system, which may be a Global Positioning System (GPS), a BeiDou system, or another positioning system. As another example, the sensing system 110 may include one or more of an inertial measurement unit (IMU), an accelerometer, a lidar, millimeter-wave radar, ultrasonic radar, and a camera device. For example, the accelerometer may include a sensor for detecting acceleration signals from the air suspension system, or it may include a sensor for detecting ESC acceleration signals.

[0143] Some or all of the functions of vehicle 100 can be controlled by computing platform 120. Computing platform 120 may include one or more processors, such as processors 121 to 12n (n being a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement some or all of the functions of the aforementioned units. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 120 may also include a memory for storing instructions. Some or all of the processors 121 to 12n can call the instructions in the memory to implement the corresponding functions.

[0144] The in-cabin display devices 130 are mainly divided into two categories: the first is the in-vehicle display screen; the second is the projection display screen, such as the head-up display (HUD). An in-vehicle display screen is a physical display screen and an important component of the in-vehicle infotainment system. Multiple displays can be installed in the cabin, such as the digital instrument cluster display, the central control screen, the display screen in front of the front passenger (also known as the front-seat passenger), the display screen in front of the left rear passenger, the display screen in front of the right rear passenger, and even the car window can be used as a display screen. A head-up display, also known as a head-up display system, is mainly used to display driving information such as speed and navigation on a display device in front of the driver (such as the windshield). This reduces the driver's eye-shift time, avoids pupil changes caused by eye-shifting, and improves driving safety and comfort. Examples of HUDs include combiner-HUD (C-HUD) systems, windshield-HUD (W-HUD) systems, and augmented reality HUD (AR-HUD) systems. It should be understood that HUDs can also evolve into other types of systems as technology progresses, and this application does not limit them.

[0145] The above description of the display device 130 uses an in-vehicle display screen and a projection display screen as examples, but the embodiments of this application are not limited thereto. For example, the display device 130 can also be a light display screen or a projection screen.

[0146] Vehicle 100 may include an advanced driving assistance system (ADAS). ADAS utilizes various sensors on the vehicle (including but not limited to: lidar, millimeter-wave radar, camera devices, ultrasonic sensors, global positioning system, inertial measurement unit) to acquire information from the vehicle's surroundings, and analyzes and processes the acquired information to achieve functions such as obstacle perception, target recognition, vehicle positioning, path planning, and driver monitoring / alerts, thereby improving the safety, automation, and comfort of driving the vehicle.

[0147] For example, Figure 2 A schematic block diagram of an ADAS provided in an embodiment of this application is shown. Logically, the ADAS may include three main functional modules: a perception module 210, a decision-making module 220, and an execution module 230. The perception module 210 senses the environment surrounding the vehicle through sensors and inputs corresponding real-time data to the decision-making module 220. The decision-making module 220 makes corresponding decisions based on the information obtained by the perception module 210. The execution module 230 takes corresponding actions after receiving the decision signal from the decision-making module 220, such as driving, changing lanes, steering, braking, and issuing warnings.

[0148] The perception module 210 can be the perception system 110, and the decision module 220 can be located in the computing platform 120.

[0149] At different levels of autonomous driving (L0-L5), ADAS can achieve different levels of automated driving assistance based on artificial intelligence algorithms and information acquired by multiple sensors. The aforementioned autonomous driving levels (L0-L5) are based on the classification standards of the Society of Automotive Engineers (SAE). Level L0 is no automation; Level L1 is driver assistance; Level L2 is partial automation; Level L3 is conditional automation; Level L4 is high automation; and Level L5 is full automation. Levels L1 to L3 involve monitoring road conditions and reacting to them jointly, requiring the driver to take over dynamic driving tasks. Levels L4 and L5 allow the driver to completely transform into a passenger. For example, automatic parking can include APA, RPA, and AVP. With APA, the driver does not need to operate the steering wheel but still needs to control the accelerator and brake from outside the vehicle; with RPA, the driver can remotely park the vehicle from outside using a terminal (such as a mobile phone); with AVP, the vehicle can park without a driver. In terms of the corresponding autonomous driving levels, APA is roughly at Level 1, RPA is roughly at Level 2-3, and AVP is roughly at Level 4.

[0150] Figure 3 A set of human machine interfaces (HMIs) provided in embodiments of this application are shown.

[0151] like Figure 3 As shown in (a), the vehicle can identify multiple parking spaces (including parking spaces 303-305) through data collected by sensors and display information about these spaces around the vehicle on the central control screen. Parking spaces 303 and 304 are vacant, while parking space 305 is occupied by a temporary obstacle (such as a traffic cone). The HMI also includes controls 301 and 302, where control 301 corresponds to the APA function and control 302 corresponds to the RPA function. When a user clicks on parking space 305, the vehicle can display information such as... Figure 3 The HMI shown in (b) is shown in the image.

[0152] like Figure 3As shown in (b), in response to detecting a user's click on parking space 305, the vehicle can display the parking path from its current location to parking space 305 and the prompt message "Temporarily occupied parking space, only remote parking is supported" on the central control screen. At this time, control 301 cannot be clicked while control 302 can be clicked; alternatively, the user can choose to use the RPA function to control the vehicle to park in parking space 305, but the user cannot choose to use the APA function to control the vehicle to park in parking space 305. When a user click on control 302 is detected, the vehicle can display the following on the central control screen: Figure 3 The HMI shown in (c) is shown in the image.

[0153] like Figure 3 As shown in (c), in response to detecting a user's click on control 302, the vehicle can display the message "Please engage P gear, and after exiting the vehicle, please close the door and remove any obstacles" on the central control screen. At this time, the HMI can display a 360° surround view and control 306, which is the control for disengaging remote parking. When the system detects that the user has shifted the gear to parking (P gear), the vehicle can display the following message on the central control screen: Figure 3 The HMI shown in (d) is shown in the figure.

[0154] like Figure 3 As shown in (d), in response to the detection that the user has shifted the gear to P, the vehicle can display the message "Parked. Please close the door and remove any obstacles after exiting the vehicle" on the central control screen.

[0155] Based on the above technical solution, the vehicle can identify parking spaces occupied by temporary obstacles, or spaces where temporary obstacles are being released. Users can select a parking space occupied by a temporary obstacle as the target parking space and choose to park using the RPA function. This eliminates the need for users to get out of the car to remove the temporary obstacle and then get back in to use the RPA function to park in that space, avoiding cumbersome operations and improving the user's parking experience.

[0156] The above combination Figure 3 The HMI display process on the vehicle side is shown below, in conjunction with... Figure 4 and Figure 5 This section describes the HMI display process on the mobile terminal side (e.g., a mobile phone).

[0157] When the vehicle detects a user tapping control 302, it can send command 1 to the mobile phone, which instructs the vehicle to park via the RPA function. Upon receiving command 1 from the vehicle, the mobile phone can display something like... Figure 4 The HMI shown in (a) is shown in the image.

[0158] like Figure 4As shown in (a), the mobile phone can display a remote parking display interface 1. This display interface 1 includes the location information of the vehicle and parking space 305, the parking path, the prompt message "Please maintain a distance from the vehicle and ensure sufficient parking space," and a prompt box 401. The prompt box 401 includes the prompt message "Remote parking is available. Click the parking button to start parking," gear information 402 (e.g., the vehicle is currently in P gear), and a control 403, which is the control for starting parking. When the user clicks the control 403, the mobile phone can display the following... Figure 4 The HMI shown in (b) is shown in the image.

[0159] like Figure 4 As shown in (b), in response to detecting a user clicking control 403, the mobile phone can display a remote parking display interface 2. This display interface 2 includes a prompt box 404, which includes the prompt message "Confirm to start parking? When using remote parking, please always stay near the vehicle. If the distance is too far, parking will be paused or exited. Remote parking is not automatic parking without human intervention. Please monitor the entire process to ensure safe completion of remote parking and avoid damage to the vehicle or injury to others," a cancel control, and a confirm control. When the user clicks the confirm control, the mobile phone can send command 2 to the vehicle and display as shown in (b). Figure 4 The HMI shown in (c) can be used to instruct the vehicle to activate the RPA function.

[0160] In one embodiment, when the vehicle receives the instruction 2, it can shift to reverse gear and begin automatic parking.

[0161] like Figure 4 As shown in (c), in response to detecting the user's click on the OK control, the mobile phone can display the remote parking display interface 3, which includes a prompt box 405, wherein the prompt box 405 includes the prompt message "Parking in progress, please keep the Bluetooth connection and pay attention to the surrounding environment", gear information 406 (for example, the vehicle is in R gear at this time) and a pause control 407.

[0162] In one embodiment, the mobile phone can also receive parking information sent by the vehicle in real time, including information about the vehicle and parking space 305. Based on the parking information sent by the vehicle, the mobile phone can display the process of the vehicle parking in parking space 305.

[0163] During the process of the vehicle activating the RPA function to park in parking space 305, the vehicle can perform real-time detection of the surrounding environment. When the distance between the vehicle and the cone is detected to be less than or equal to a preset distance, the vehicle can send command 3 to the mobile phone, which can be used to indicate that the distance between the vehicle and the cone is less than or equal to the preset distance.

[0164] For example, the preset distance can be 30cm.

[0165] like Figure 4 As shown in (d), in response to receiving the instruction 3, the mobile phone can remotely control the parking display interface 4. The display interface 4 includes a prompt box 408, which includes the prompt message "Parking space is temporarily occupied and waiting. Please remove the temporary obstacle in the parking space and continue parking", gear information (for example, the vehicle is in R gear at this time) and a pause control.

[0166] above Figure 4 The display interface 4 shown in (d) can also be called the remote parking waiting interface. For example, upon receiving instruction 3, the mobile phone can start timer 1 (e.g., timer 1 has a duration of 15 seconds). If, during the execution of timer 1, the mobile phone receives instruction 4 from the vehicle, the mobile phone can automatically switch to... Figure 4 As shown in display interface 3 (e), instruction 4 indicates that the temporary obstacle has been removed from parking space 305. The phone then continues to display the process of the vehicle automatically parking in parking space 305.

[0167] The duration of Timer 1 above can also be called the waiting duration.

[0168] like Figure 5 As shown in (a), when timer 1 finishes running, if the phone does not receive instruction 4 or receives instruction 5 from the vehicle, the phone can switch to displaying... Figure 5 The remote parking display interface 5 shown in (a) indicates that the RPA function has been suspended, or that the temporary obstacle has not been removed within the waiting time and the vehicle has been shifted from R to P.

[0169] The display interface 5 includes a prompt box 501, which includes the prompt message "Parking has been paused. Please resume within 30 seconds. It will automatically exit after the timeout period", gear information (for example, the vehicle is currently in P gear), an exit control, and a continue control 503.

[0170] For example, the vehicle can also start timer 1 when sending command 3 to the mobile phone, and detect whether the cone has been removed from parking space 305 during the operation of timer 1. If the cone is detected to have been removed during the operation of timer 1, the vehicle can continue to perform the RPA function. If the cone is not detected to have been removed when timer 1 ends, the vehicle can control the gear to shift from R to P and send command 5 to the mobile phone.

[0171] above Figure 5The display interface 5 shown in (a) can also be called the remote parking pause interface. If the mobile phone does not receive instruction 4 when timer 1 ends, it can switch to displaying this remote parking pause interface and start timer 2 (e.g., timer 2 has a duration of 30 seconds). During the operation of timer 2, if the mobile phone detects that the user clicks the continue control 503, it can send instruction 6 to the vehicle, which instructs the vehicle to continue performing the RPA function. In response to receiving instruction 6, the vehicle can detect obstacles in parking space 305. If there are no temporary obstacles in parking space 305, the vehicle can continue performing the RPA function and send instruction 7 to the mobile phone, which instructs the vehicle to continue performing the RPA function. In response to receiving instruction 7, the mobile phone can switch to displaying the remote parking display interface 3.

[0172] The runtime of Timer 2 above can also be called the pause duration.

[0173] If no user click on the continue control 503 is detected when timer 2 ends, the phone can display the following: Figure 5 The HMI shown in (b) is shown in the image.

[0174] like Figure 5 As shown in (b), the mobile phone can display the remote parking display interface 6, which includes a prompt box 504 containing the message "Parking has been exited. If you wish to park again, please re-authorize or restart." At this time, if the user wishes to continue using the RPA function, they can get back into the car and select the target parking space through the central control screen.

[0175] In one embodiment, if the vehicle detects that the temporary obstacle has not been removed when timer 1 ends, the vehicle can start timer 2. If the vehicle does not receive instruction 6 from the mobile phone when timer 2 ends, the vehicle can exit the RPA function.

[0176] Figure 6 A schematic flowchart of a parking method 600 provided in an embodiment of this application is shown. The method 600 includes methods that can be performed by a vehicle, or by a display system and ADAS within the vehicle. The method 600 includes:

[0177] S601, the perception module acquires information about parking spaces and temporary obstacles.

[0178] Optionally, the sensing module acquires information about parking spaces and temporary obstacles, including: when the vehicle is in the parking lot and the vehicle's speed is less than or equal to a preset speed, the sensing module acquires information about parking spaces and temporary obstacles.

[0179] For example, the preset speed is 20 km / h.

[0180] For example, the temporary obstacle may include traffic cones, ground locks, motorcycles, non-motorized vehicles (e.g., bicycles), users, etc.

[0181] S602, the perception module sends information about parking spaces and temporary obstacles to the motion planning module.

[0182] For example, such as Figure 3 As shown in (a), the perception module can send information about multiple parking spaces around the vehicle and information about temporary obstacles to the motion planning module. For example, the multiple parking spaces include parking spaces 303-305, where parking spaces 303 and 304 are vacant parking spaces, and parking space 305 is a parking space occupied by a temporary obstacle.

[0183] For example, when the motion planning module receives information about parking spaces and temporary obstacles, it can pre-plan the parking path for the vehicle to park from its current position into a parking space occupied by a temporary obstacle.

[0184] S603, the motion planning module sends information about available parking spaces and parking spaces occupied by temporary obstacles to the display system.

[0185] For example, the display system may include a vehicle parking application and a central control screen.

[0186] For example, the motion planning module sends information about parking spaces 303-305 and the cones to the display system.

[0187] The S604's display system can show available parking spaces and those temporarily occupied by obstacles via the central control screen.

[0188] For example, such as Figure 3 As shown in (a), the vehicle can display parking spaces 303-305 on the display screen, where parking spaces 303 and 304 are vacant parking spaces, and parking space 305 is a parking space occupied by a temporary obstacle.

[0189] S605, the display system receives a user's instruction to click on a parking space occupied by a temporary obstacle.

[0190] For example, such as Figure 3 As shown in (a), the display system can detect the user's click on parking space 305.

[0191] S606, the display system sends information about parking spaces occupied by temporary obstacles to the motion planning module.

[0192] S607, the motion planning module plans parking paths for parking spaces occupied by temporary obstacles.

[0193] For example, the motion planning module can plan a parking path from the vehicle's current position into parking space 305, and the motion planning module can send this parking path to the display system, so that the display system can display the parking path from the vehicle's current position into parking space 305. For example, as... Figure 3 As shown in (b) above, the vehicle can display the parking path.

[0194] For example, the motion planning module can use path planning algorithms such as geometric methods or hybrid A* algorithms to obtain the parking path.

[0195] S608, the motion planning module sends parking preparation information to the finite state machine.

[0196] S609, the finite state machine switches the vehicle's state to standby state based on the parking preparation information sent by the motion planning module.

[0197] S610, the finite state machine sends the standby state to the display system.

[0198] S611, in response to receiving this standby state, the display system can display the parking space occupied by the temporary obstacle through the central control screen. Only RPA function is supported.

[0199] For example, such as Figure 3 As shown in (b), the display system can display on the central control screen that only supports RPA function for parking space 305 (control 302 can be clicked while control 301 cannot be clicked).

[0200] S612 indicates that the system has received a user's instruction to enable the RPA function.

[0201] For example, such as Figure 3 As shown in (b), when the system detects the user's click on control 302, it obtains the user's instruction to enable the RPA function.

[0202] Optionally, when the display system receives a user's instruction to enable the RPA function, it can send instruction 1 to the mobile phone. Upon receiving instruction 1, the mobile phone can display the remote parking display interface 1.

[0203] The S613 system displays a prompt on the central control screen for the user to shift into Park and remove any temporary obstacles after exiting the vehicle, closing the door, and taking the vehicle out of the parking space.

[0204] For example, such as Figure 3 As shown in (c), when the user clicks on control 302, the display system can display the prompt message "Please shift to P gear, and after getting out of the car, please close the door and remove the obstacles" on the central control screen.

[0205] For example, the execution module ( Figure 6 (Not shown in the image) When the system detects that the user has shifted the vehicle's gear to P (Park), it can send gear information to the display system. Upon receiving this information, the display system can notify the user via the central control screen that the vehicle has been parked and that they should remove any temporary obstacles after exiting the vehicle, closing the door, and putting it away.

[0206] Figure 7 A schematic flowchart of a parking method 700 provided in an embodiment of this application is shown. Figure 7 As shown, the method 700 can be performed by a mobile phone and a vehicle. The method 700 includes:

[0207] S701, the mobile phone performs a system self-check before parking.

[0208] S702, the mobile phone sends RPA service heartbeats to the finite state machine.

[0209] S703, a finite state machine sends RPA authorization to the mobile phone.

[0210] S704, a finite state machine, switches the vehicle's state to RPA standby state.

[0211] S705, the finite state machine sends the RPA standby state to the mobile phone.

[0212] For example, when the mobile phone receives the RPA standby status and RPA authorization, it can display something like this: Figure 4 The remote parking display interface 1 is shown in (a) above.

[0213] S706, the mobile phone receives the user's instruction to activate the RPA function.

[0214] For example, such as Figure 4 As shown in (b), when the mobile phone detects the user's click on the OK control, it obtains the user's instruction to start the RPA function.

[0215] S707, the mobile phone requests the finite state machine to start the RPA function.

[0216] S708, a finite state machine, switches the vehicle's state to the RPA parking state.

[0217] S709, the finite state machine sends the RPA docking state to the motion planning module.

[0218] S710, the motion planning module sends the parking path to the execution module.

[0219] For example, the motion planning module can send the parking path planned in S607 to the execution module.

[0220] S711, the execution module controls the vehicle based on the parking path.

[0221] For example, the actuator may include a steering system, a braking system, etc.

[0222] S712, the motion planning module determines that the vehicle has been hit and stopped by a temporary obstacle.

[0223] For example, during the process of parking a vehicle in parking space 305, the sensing module can perceive the surrounding environment in real time. If it detects that the distance between the vehicle and a temporary obstacle in parking space 305 is less than or equal to a preset distance, it can send instruction information 1 to the motion planning module. Instruction information 1 indicates that the distance between the vehicle and the temporary obstacle is less than or equal to the preset distance. Based on instruction information 1, the motion planning module can determine that the vehicle has been hit and stopped by the temporary obstacle and send instruction information 2 to the execution module. Instruction information 2 instructs the execution module to control the vehicle to stop.

[0224] S713, the motion planning module sends command 3 to the mobile phone.

[0225] S714, in response to receiving instruction 3, the mobile phone can prompt the user to remove the temporary obstacle.

[0226] For example, such as Figure 4 As shown in (d), in response to receiving the instruction 3, the mobile phone can remotely control the parking display interface 4. The display interface 4 includes a prompt box 408, which includes the prompt message "The parking space is temporarily occupied and waiting. Please remove the temporary obstacles in the parking space and continue parking".

[0227] S715a, the motion planning module determines that the temporary obstacle has not been removed during the waiting period.

[0228] S716a, the motion planning module sends instruction 5 to the mobile phone.

[0229] S717a, in response to receiving instruction 5, the mobile phone prompts the user that parking has been suspended and prompts the user to resume parking within the suspension period.

[0230] For example, such as Figure 5 As shown in (a), if the phone does not receive instruction 4 or receives instruction 5 when the waiting time ends, the phone can switch to the display interface 5 for remote parking. This display interface 5 includes a prompt box 501, which contains the message "Parking has been paused. Please resume within 30 seconds. It will automatically exit after the timeout."

[0231] S718, the motion planning module determined that it did not receive the instruction 6 within the pause duration.

[0232] S719, the motion planning module instructs the execution module to exit the RPA function.

[0233] If the S720 does not detect the user clicking the control to continue the RPA function or detects the user clicking the control to exit the RPA function within the pause period, it will prompt the user that the RPA function has been exited.

[0234] above Figure 7 This section describes the interaction between the mobile phone and the vehicle when temporary obstacles are not removed during the waiting and pause periods. The following section will combine... Figure 8 This describes the interaction between the mobile phone and the vehicle when a temporary obstacle is removed during the waiting period.

[0235] Figure 8 Another schematic flowchart of the parking method 700 provided in an embodiment of this application is shown. Figure 8 As shown, the method 700 can be performed by a mobile phone and a vehicle. The method 700 includes:

[0236] S715b, the motion planning module determines that the temporary obstacle is removed during the waiting period.

[0237] S716b, the motion planning module sends command 4 to the mobile phone.

[0238] In response to receiving the instruction 4, the S717b mobile phone can continue to display the remote parking display interface 3.

[0239] like Figure 4 As shown in (e), if the mobile phone receives instruction 4 from the vehicle during the waiting period, the mobile phone can continue to display the display interface 3.

[0240] S721, the motion planning module determines the vehicle's target posture.

[0241] S722, the motion planning module sends parking completion information to the finite state machine.

[0242] S723, a finite state machine, switches the vehicle's state to the parking completed state.

[0243] S724, finite state machine indicates that the execution module will be powered down after a 30s delay.

[0244] During the 30-second power-off delay, users can also control the vehicle using their mobile phones. For example, they can control the vehicle to be centered and parked in parking space 305.

[0245] The S725 finite state machine sends the parking completion status to the mobile phone.

[0246] S726, in response to receiving the parking completion status, the mobile phone can display a parking completion interface, which includes a locking control.

[0247] S727 receives the user's car locking command.

[0248] S728, the mobile phone sends a lock signal to the execution module.

[0249] S729, in response to receiving the vehicle lock signal, the execution module can control the vehicle to lock.

[0250] Figure 9 A schematic flowchart of a parking method 900 provided in an embodiment of this application is shown. The method 900 can be implemented by a vehicle and a mobile terminal. The method 900 includes:

[0251] S910, the vehicle receives a first instruction from the user, which instructs the vehicle to park in a target parking space with temporary obstacles placed there, via the remote parking assist (RPA) function.

[0252] For example, the temporary obstacle includes, but is not limited to, traffic cones, ground locks, motorcycles, electric vehicles, non-motorized vehicles (e.g., bicycles), users, etc.

[0253] Optionally, before the vehicle receives the user's first instruction, the method 900 further includes: obtaining information on one or more parking spaces, including the target parking space; and upon receiving the user's fourth instruction, controlling the prompting device to indicate that there is a temporary obstacle on the target parking space and that only the RPA function is supported for the target parking space, wherein the fourth instruction is an instruction from the user to select the target parking space.

[0254] For example, such as Figure 3 As shown in (a), the one or more parking spaces may include vacant parking spaces (e.g., parking spaces 303 and 304) and parking spaces occupied by temporary obstacles (e.g., parking space 305). When the user's selection control 302 is detected, the vehicle may prompt the user that a temporary obstacle has been placed in parking space 305 and that only RPA functionality is supported for parking space 305.

[0255] like Figure 3 As shown in (b), the first instruction can be an operation by the user clicking on the control 302 on the central control screen, or it can be a voice command from the user, such as "use remote parking to park in the memory parking space" (for example, parking space 305 can be the parking space where the vehicle was previously parked).

[0256] like Figure 3 As shown in (a), the fourth instruction can be the user's operation of clicking on parking space 305 through the central control screen, or it can be the user's voice command, such as "select memory parking space".

[0257] Optionally, the vehicle can use the central control screen to distinguish between vacant parking spaces and those occupied by temporary obstacles.

[0258] For example, vacant parking spaces can be shown in dark blue, while parking spaces occupied by temporary obstacles can be shown in light blue.

[0259] For example, the recommendation level of parking spaces can be displayed between vacant parking spaces and parking spaces occupied by temporary obstacles. For example, the recommendation level of parking space 303 is 80%, the recommendation level of parking space 304 is 90%, and the recommendation level of parking space 305 is 70%.

[0260] S920, in response to receiving the first instruction, the vehicle sends a second instruction to the mobile terminal and the control prompting device prompts the user to get out of the vehicle and remove the temporary obstacle. The second instruction is used to instruct the user to park in the target parking space through the RPA function.

[0261] The second instruction above can be the same as instruction 1 above.

[0262] For example, such as Figure 3 As shown in (c), when the user clicks on control 302, the vehicle can display the prompt message "Please shift to P gear, and after getting out of the vehicle, please close the door and remove the obstacle" on the central control screen.

[0263] Optionally, the method 900 further includes: the vehicle periodically sending vehicle and target parking space information to the mobile terminal. In this way, the mobile phone can display the vehicle's movement along the parking path and the target parking space information on its screen.

[0264] S930, upon receiving the user's first input, the mobile terminal sends a third instruction to the vehicle, which instructs the vehicle to begin parking in the target parking space.

[0265] Optionally, upon receiving the user's first input, the mobile terminal sends a third instruction to the vehicle, including: according to the second instruction, controlling the display device to display a first interface, the first interface including a first control, the first control being a control to enable the RPA function; upon receiving the user's first input to the first control, sending a third instruction to the vehicle, the third instruction being used to instruct the vehicle to begin parking in the target parking space.

[0266] For example, the first interface can be Figure 4 The display interface shown in (a) is 1.

[0267] Optionally, upon receiving a second command from the vehicle, the mobile phone can automatically switch from the current display interface to the remote parking display interface 1.

[0268] The third instruction above can be instruction 2 mentioned above.

[0269] S940, upon detecting that a user has alighted from the vehicle and receiving a third instruction from the mobile terminal, controls the vehicle to park in the target parking space.

[0270] For example, such as Figure 4 As shown in (b), when the user clicks the OK control, the mobile phone can send a third command to the vehicle, so that the vehicle can automatically park in parking space 305 through the RPA function.

[0271] Optionally, the method 900 further includes: when a user’s first input to the first control is received, controlling the display device to switch from displaying the first interface to displaying a second interface, the second interface being a display interface for the vehicle to be parked in the target parking space.

[0272] For example, the second interface can be Figure 4 The display interface shown in (c) is 3.

[0273] Optionally, the method 900 further includes: when the distance between the vehicle and the temporary obstacle is less than or equal to a preset distance, the vehicle stops parking in the target parking space and the vehicle sends a fifth instruction to the mobile terminal, the fifth instruction being used to instruct the mobile terminal to prompt the user to remove the temporary obstacle; according to the fifth instruction, the mobile phone controls the display device to switch from displaying the second interface to displaying the third interface, the third interface including a first prompt message, the first prompt message being used to prompt the user to remove the temporary obstacle.

[0274] The fifth instruction above can be instruction 3 mentioned above.

[0275] For example, the third interface can be Figure 4 The display interface shown in (d) is 4.

[0276] For example, such as Figure 4 As shown in (d), in response to receiving the instruction 3, the mobile phone can display a remote parking display interface 4 on the screen. The display interface 4 includes a prompt box 408, which includes the prompt message "Parking space is temporarily occupied and waiting. Please remove the temporary obstacle in the parking space and continue parking", gear information (for example, the vehicle is in R gear at this time) and a pause control.

[0277] Optionally, the method 900 further includes: when the user removes the temporary obstacle within a first preset time period, the vehicle may continue to perform the RPA function, or the vehicle may continue to be controlled to park in the target parking space.

[0278] Optionally, the method 900 further includes: when no user is detected removing the temporary obstacle within a first preset time period, the vehicle sends a sixth instruction to the mobile terminal, the sixth instruction indicating that the temporary obstacle has not been removed within the first preset time period, or the sixth instruction indicating that the RPA function has been suspended.

[0279] Optionally, the method 900 further includes: the mobile terminal controlling the display device to switch from displaying the third interface to displaying the fourth interface according to the sixth instruction, the fourth interface including a second prompt message, the second prompt message being used to indicate that the RPA function has been suspended.

[0280] The fourth interface above can be as follows Figure 5 The display interface shown in (a) is 5.

[0281] The sixth instruction above can be instruction 5 mentioned above.

[0282] For example, such as Figure 5 As shown in (a), if the mobile phone does not receive the instruction 4 within the waiting time, or if the mobile phone receives the instruction 5 sent by the vehicle, the mobile phone can switch to the display interface 5 for remote parking. The display interface 5 includes a prompt box 501, which includes the prompt message "Parking has been paused. Please resume within 30 seconds. It will automatically exit after the timeout."

[0283] Optionally, the fourth interface also includes a second control, which is a control for restoring the automatic parking function. The method 900 further includes: when a second input from the user to the second control is obtained, the mobile terminal sends a seventh instruction to the vehicle, which is used to instruct the restoration of the PRA function.

[0284] For example, the second control can be Figure 5 The continuation control 503 is shown in (a) above.

[0285] The seventh instruction above can be the same as instruction 6 mentioned above.

[0286] Optionally, the method 900 further includes: when the seventh instruction sent by the mobile terminal is received and the temporary obstacle is detected to have been removed, the vehicle may continue to park in the target parking space, the seventh instruction being used to instruct the restoration of the PRA function.

[0287] Figure 10 A schematic block diagram of a parking device 1000 provided in an embodiment of this application is shown. The device 1000 includes: a receiving unit 1010, configured to receive a first instruction from a user, the first instruction instructing the user to park in a target parking space using a remote parking assist (RPA) function, wherein a temporary obstacle is placed in the target parking space; a sending unit 1020, configured to, in response to receiving the first instruction, send a second instruction to a mobile terminal and control a prompting device to prompt the user to get out of the vehicle and remove the temporary obstacle, the second instruction instructing the user to park in the target parking space using the RPA function; and a control unit 1030, configured to, upon detecting that the user has gotten out of the vehicle and receiving a third instruction sent by the mobile terminal, control the vehicle to park in the target parking space, the third instruction instructing the vehicle to park in the target parking space.

[0288] Optionally, the device 1000 further includes: an acquisition unit, configured to acquire information on one or more parking spaces, including the target parking space, before the receiving unit receives the user's first instruction; and a control unit 1030, configured to, when the receiving unit receives the user's fourth instruction, control the prompting device to indicate that a temporary obstacle is placed on the target parking space and that only the RPA function is supported for the target parking space, wherein the fourth instruction is an instruction from the user to select the target parking space.

[0289] Optionally, the control unit 1030 is further configured to control the vehicle to stop parking in the target parking space and send a fifth instruction to the mobile terminal when the distance between the vehicle and the temporary obstacle is less than or equal to a preset distance. The fifth instruction is used to instruct the mobile terminal to prompt the user to remove the temporary obstacle.

[0290] Optionally, the control unit 1030 is also configured to control the vehicle to continue parking in the target parking space when it detects that the user has removed the temporary obstacle within a first preset time period.

[0291] Optionally, the sending unit 1020 is further configured to send a sixth instruction to the mobile terminal when the control unit does not detect that the user has removed the temporary obstacle within a first preset time period, the sixth instruction indicating that the temporary obstacle has not been removed within the first preset time period.

[0292] Optionally, the control unit 1030 is further configured to control the vehicle to continue parking in the target parking space when the receiving unit 1010 receives the seventh instruction sent by the mobile terminal and detects that the temporary obstacle has been removed, wherein the seventh instruction is used to instruct the PRA function to be restored.

[0293] Figure 11 A schematic block diagram of a parking device 1100 provided in an embodiment of this application is shown. The device 1100 includes: a receiving unit 1110, configured to receive a second instruction sent by a vehicle, the second instruction instructing the vehicle to park in a target parking space via the RPA function, the target parking space being a parking space identified by the vehicle and containing temporary obstacles; a control unit 1120, configured to control a display device to display a first interface according to the second instruction, the first interface including a first control, the first control being a control for activating the RPA function; and a sending unit 1130, configured to send a third instruction to the vehicle when the acquiring unit receives a first input from the user regarding the first control, the third instruction instructing the vehicle to begin parking in the target parking space.

[0294] Optionally, the control unit 1120 is further configured to, when the acquisition unit acquires the user's first input to the first control, control the display device to switch from displaying the first interface to displaying the second interface, the second interface being the display interface for the vehicle parking in the target parking space; the receiving unit 1110 is further configured to receive a fifth instruction sent by the vehicle, the fifth instruction being used to instruct the mobile terminal to prompt the user to remove the temporary obstacle; the control unit 1120 is further configured to, according to the fifth instruction, control the display device to switch from displaying the second interface to displaying the third interface, the third interface including a first prompt message, the first prompt message being used to prompt the user to remove the temporary obstacle.

[0295] Optionally, the receiving unit 1110 is further configured to receive a sixth instruction sent by the vehicle, the sixth instruction indicating that the temporary obstacle has not been removed within a first preset time period; the control unit 1120 is further configured to control the display device to switch from displaying the third interface to displaying the fourth interface according to the sixth instruction, the fourth interface including a second prompt message, the second prompt message being used to indicate that the RPA function has been suspended.

[0296] Optionally, the fourth interface also includes a second control, which is a control for restoring the automatic parking function. The sending unit 1130 is also used to send a seventh instruction to the vehicle when the acquisition unit obtains the user's second input on the second control. The seventh instruction is used to instruct the restoration of the PRA function.

[0297] Figure 12 A schematic flowchart of a parking method 1200 provided in an embodiment of this application is shown. The method 1200 can be executed by a vehicle; or, the method 1200 can be executed by a computing platform 1200; or, the method 1200 can be executed by a processor, chip, or circuit in the computing platform 120. The method 1200 includes:

[0298] S1210, Identify a target parking space, whose status is "occupied".

[0299] Optionally, determining a target parking space includes: obtaining a first instruction from the user, which instructs the user to select the target parking space.

[0300] For example, such as Figure 3 As shown in (a), when a user clicks on parking space 305, it can be determined that the target parking space selected by the user is parking space 305, and the state of parking space 305 is occupied. For example, parking space 305 may be occupied by obstacles (e.g., traffic cones, parking locks, or other vehicles).

[0301] Optionally, a target parking space can be determined, including: determining the target parking space based on the current environment of the vehicle.

[0302] Optionally, determining the target parking space based on the vehicle's current environment includes: acquiring multiple parking spaces around the vehicle; and determining the target parking space based on at least one of the following: parking time, parking distance, or number of maneuvers required for each of the multiple parking spaces. For example, the target parking space may be the one requiring the fewest maneuvers. Another example is the one requiring the shortest parking time. Yet another example is the one requiring the shortest parking distance.

[0303] For example, if the current environment of the vehicle includes multiple parking spaces, and only one of the multiple parking spaces has a temporary obstacle (e.g., a cone or a parking lock) and no other vehicle is parked there, while all other parking spaces are occupied by other vehicles, then the parking space with the temporary obstacle and no other vehicle can be identified as the target parking space.

[0304] For example, a user can pre-set a reserved parking space on the map. When the user's reserved parking space is present in the current environment of the vehicle, that reserved parking space can be designated as the target parking space. The target parking space is considered occupied if: another vehicle is parked in the reserved parking space, or the reserved parking space is occupied by a temporary obstacle (e.g., a traffic cone or a parking lock).

[0305] S1220, Determine the parking mode, which includes off-vehicle parking or remote control parking.

[0306] Optionally, determining the parking mode includes: obtaining a second instruction from the user, the second instruction indicating the parking mode.

[0307] For example, such as Figure 3 As shown in (b), when the user clicks on control 302, it can be determined that the user has selected remote parking.

[0308] Optionally, determining the parking mode includes: determining the parking mode based on the status of the target parking space. For example, when the target parking space is occupied, the parking mode can be determined to be either off-the-go parking or remote-controlled parking.

[0309] For example, such as Figure 3 As shown in (a), when the user clicks on parking space 305, it can be determined that the target parking space selected by the user is parking space 305. When it is determined that the status of parking space 305 is occupied, it can be directly determined that the vehicle will be parked in parking space 305 via remote control.

[0310] S1230, in response to the target parking space being vacant, control the vehicle to park in the target parking space in this parking mode.

[0311] Optionally, the parking mode is "away parking". In response to the target parking space being vacant, controlling the vehicle to park in the target parking space in this parking mode includes: in response to determining the parking mode and the target parking space being occupied, controlling the vehicle to output a first prompt message, the first prompt message indicating that "away parking" cannot be activated and / or indicating that the user needs to update the status of the target parking space to vacant; and in response to the target parking space being updated to vacant, controlling the vehicle to park in the target parking space.

[0312] For example, Figure 13 Another set of HMIs provided in an embodiment of this application is shown.

[0313] like Figure 13 As shown in (a), the vehicle can identify multiple parking spaces (including parking spaces 303-305) through data collected by sensors and display information about these spaces around the vehicle on the central control screen. Parking spaces 303 and 304 are in an vacant state, while parking space 305 is in an occupied state, for example, if parking space 305 is occupied by a temporary obstacle (such as a traffic cone). The HMI also includes controls 1301, 1302, and 1303. Control 1301 corresponds to the APA function, control 1302 corresponds to the off-parking function, and control 1303 corresponds to the remote parking function. When a user clicks on parking space 305, the vehicle can display information such as... on the central control screen. Figure 13 The HMI shown in (b) is shown in the image.

[0314] When the user's click action on parking space 305 is detected, it can be determined that the target parking space is parking space 305.

[0315] like Figure 13 As shown in (b), in response to detecting a user's click on parking space 305, the vehicle can display the parking path from its current location into parking space 305 and the prompt message "Please remove the obstacle; it is recommended to use off-vehicle parking or remote parking" on the central control screen. At this time, control 1301 is not clickable, while controls 1302 and 1303 are clickable. When a user clicks on control 1302, the vehicle can display the following on the central control screen: Figure 13 The HMI shown in (c) is shown in the image.

[0316] When a user clicks on control 1302, it can be determined that the parking mode is "parking off-vehicle".

[0317] The expression of prompts in the HMI in this application embodiment is not limited to the example shown in the figure. For example, it may include part or all of the content in the example, or it may include other prompts that are convenient for user operation.

[0318] Optionally, in response to determining the parking mode and the target parking space being occupied, the vehicle is controlled to output a first prompt message, including: when the target parking space is occupied, performing at least one of the following: controlling the vehicle's display screen to display the prompt message; controlling the vehicle's headlights to flash; or controlling the vehicle's speaker to emit a prompt sound.

[0319] For example, the prompt message can be as follows: Figure 13 The prompt message shown in (c) is used to prompt the user to update the status of the target parking space to vacant. For example... Figure 13 As shown in (c), in response to detecting a user clicking control 1302, the vehicle can display the prompt message "Please engage P gear, and after exiting the vehicle, please close the door and remove any obstacles" on the central control screen. At this time, control 1304 can be displayed on the HMI, which is the control for exiting and parking.

[0320] The HMI prompts shown above are merely exemplary, and this application embodiment does not impose any specific limitations on them. For example, as shown... Figure 13 As shown in (c), the vehicle can also display other prompts on the central control screen, such as "The parking space is occupied, and parking cannot be activated", "Waiting for the parking space to be released, parking cannot be activated temporarily", "Please remove the obstacles, otherwise parking cannot be activated", etc.

[0321] For example, before detecting that a user has exited the vehicle and the target parking space is vacant, a prompt tone can be emitted through a speaker outside the cabin: "Please remove the obstruction in the parking space."

[0322] For example, before detecting that a user has gotten out of the car and the target parking space is vacant, the car lights can be controlled to flash to prompt the user to remove obstacles from the target parking space.

[0323] The vehicle may not activate the exit-parking function until the status of parking space 305 is detected to be updated to vacant. For example, before the status of parking space 305 is detected to be vacant, the vehicle may send a first message to the mobile phone indicating that the target parking space (e.g., parking space 305) is occupied.

[0324] like Figure 13 As shown in (d), when the target parking space is detected to be vacant, the vehicle can activate the exit parking and display the message "Parking space released, exit parking activated" on the central control screen.

[0325] The release of the target parking space can also be understood as the target parking space being in a free state.

[0326] Optionally, in response to determining the parking mode and the target parking space being occupied, the vehicle is controlled to output a first prompt message, including: sending a first message to a mobile terminal, the first message indicating that the target parking space is occupied, and the mobile terminal being used to prompt that the parking function cannot be activated and / or prompt the user that the target parking space needs to be updated to be available based on the first message.

[0327] For example, Figure 14 An HMI provided in an embodiment of this application is shown.

[0328] like Figure 14 As shown in (a), in response to receiving the first message, the mobile phone can display an interface for parking away from the vehicle, which includes the message "System preparing, parking space occupied, vehicle in P gear, all four doors and two hoods closed". Through this display, the user can confirm that the parking away from the vehicle function has not yet been activated because the target parking space is occupied.

[0329] The above explanation of "four doors and two hoods" uses a sedan as an example. The four doors refer to the two front doors and the two rear doors, and the two hoods refer to the hood and the trunk lid.

[0330] For example, while displaying the message "System preparing, parking space occupied, vehicle in P gear, all four doors and two hoods closed," the mobile phone can also notify the user via vibration.

[0331] like Figure 14 As shown in (b), in response to receiving the second message, the mobile phone can display another display interface for parking away from the vehicle, which includes the prompt message "The vehicle is parking in the parking space via the parking away from the vehicle" and the second message indicates that the target parking space is available.

[0332] The above-mentioned control of the vehicle to output the first prompt information includes: before detecting that a user has exited the vehicle, controlling the display screen in the cabin to display a prompt message (e.g., the prompt message is "Please shift to P, please close the door and remove any obstacles after exiting the vehicle") or controlling the speaker in the cabin to output a prompt sound (e.g., the prompt sound is "Please shift to P, please close the door and remove any obstacles after exiting the vehicle"); when detecting that a user has exited the vehicle and closed the door, the vehicle lights can be controlled to flash; if the target parking space is detected to be occupied within a preset time period (e.g., 10 seconds) from the start of the flashing lights, the vehicle can send a first message to the mobile phone. After receiving the first message, the mobile phone can display as follows: Figure 14 The prompt message shown in (a) is presented to the user via vibration.

[0333] Optionally, the parking mode is "away parking". In response to the target parking space being vacant, the vehicle is controlled to park in the target parking space in the "away parking" manner, including: in response to determining the parking mode and the target parking space being occupied, the vehicle is controlled to drive from the starting position to the vicinity of the target parking space and then stop; in response to the target parking space being updated to vacant, the vehicle is controlled to park in the target parking space.

[0334] For example, Figure 15 Another set of HMIs provided in an embodiment of this application is shown.

[0335] When the vehicle detects that the user has selected parking space 305, it can display the following on the central control screen: Figure 15 The HMI shown in (a) has control 1501 in a non-clickable state, while controls 1502 and 1503 are clickable. Control 1501 corresponds to the APA function, control 1502 corresponds to the off-vehicle parking function, and control 1503 corresponds to the remote parking function. When a user clicks control 1502, the central control screen displays the message "Please engage P gear, close the door and remove any obstacles after exiting the vehicle." When the user exits the vehicle and closes the door, the off-vehicle parking function is activated.

[0336] Optionally, when parking space 305 is detected to be occupied by an obstacle, the control 1501 displayed on the central control screen can be made unclickable.

[0337] Optionally, when it is detected that the parking space 305 is occupied by an obstacle and the distance between the vehicle and the parking space 305 is greater than or equal to a preset distance, or when the parking space 305 is occupied by an obstacle and the distance between the vehicle and the obstacle on the parking space 305 is greater than or equal to a preset distance, the control 1501 displayed on the central control screen can be controlled to be clickable.

[0338] When a vehicle activates the "away parking" mode, it can send a message to the user's phone indicating that the vehicle is parking in the target space using this mode. In response to receiving the message, the phone displays the following: Figure 15 The HMI shown in (b) includes the message "Vehicle is parking in a parking space using the off-parking function". The HMI also includes information about the vehicle and the target parking space, where there are obstacles in the target parking space.

[0339] When the vehicle comes to a stop near the target parking space after driving from its starting position, it can send a first message to the mobile phone indicating that the target parking space is occupied. For example... Figure 15As shown in (c), in response to receiving the first message, the mobile phone can display the message "Parking space detected to be occupied by an obstacle. The parking function has been suspended. Please remove the obstacle."

[0340] Optionally, the first message also instructs the vehicle to drive to the vicinity of the target parking space.

[0341] When parking space 305 is detected to be vacant or when a user removes the obstacle, the vehicle can activate the "leave and park" function and send a message to the user's mobile phone indicating that the target parking space is vacant. For example... Figure 15 As shown in (d), in response to receiving this message, the mobile phone can display the prompt message "The obstacle has been removed and the parking function has been restored".

[0342] When a vehicle is detected parking in space 305, it can send a message to a mobile phone indicating that it has parked in the target space. For example... Figure 15 As shown in (e), in response to receiving this message, the mobile phone can display the prompt message "Parking space has been entered via the parking exit function".

[0343] Optionally, determining the parking mode, where the target parking space is occupied, and the vehicle stops after driving from the starting position to the vicinity of the target parking space, further includes: controlling the vehicle to output a second prompt message, the second prompt message being used to instruct the user to update the status of the target parking space to vacant, the output method of the second prompt message including at least one of the following: flashing headlights, sound, or pushing prompt message to a mobile terminal.

[0344] For example, controlling the vehicle to output a second prompt message includes: sending the first message to a mobile phone so that the mobile phone displays the following: Figure 15 The prompt message shown in (c) is as follows.

[0345] The process of the vehicle outputting the second prompt message can be referred to the process of the vehicle outputting the first prompt message, and will not be repeated here.

[0346] Optionally, the parking mode is "parking away from the vehicle". Before determining the parking mode, the method 1200 further includes: receiving an instruction from the user, which instructs the user to activate parking; and in response to the received instruction, controlling the vehicle to travel from the starting position to the vicinity of the target parking space and then stopping.

[0347] Optionally, the system receives instructions from the user, including receiving instructions from the user to enable the APA function.

[0348] For example, Figure 16 Another set of HMIs provided in an embodiment of this application is shown.

[0349] When the system detects a user clicking on parking space 305, the vehicle can display the following on the central control screen: Figure 16 The HMI shown in (a) has controls 1601, 1602, and 1603 that are all clickable. Control 1601 corresponds to the APA (Automatic Parking Assist) function, control 1602 corresponds to the off-vehicle parking assist function, and control 1603 corresponds to the remote parking assist function. When a user clicks control 1601, the vehicle can be controlled to park in parking space 305 using APA, and the result will be displayed on the central control screen as shown below. Figure 16 The HMI shown in (b) is shown in the image.

[0350] Optionally, when the distance between the vehicle and the parking space 305 is detected to be greater than or equal to a preset distance, or when the distance between the vehicle and an obstacle on the parking space 305 is greater than or equal to a preset distance, the control 1601 displayed on the screen can be controlled to be clickable.

[0351] like Figure 16 As shown in (b), after detecting that the vehicle has moved from its starting position to the vicinity of the target parking space, the vehicle can brake to a stop and display a prompt message on the central control screen: "Parking space detected to be occupied by an obstacle. APA function is paused. It is recommended to use off-vehicle parking or remote parking." At this time, control 1601 is in an unclickable state, while controls 1602 and 1603 are in a clickable state. When the user clicks control 1602, the central control screen can display the following message: Figure 16 The HMI shown in (c) is shown in the image.

[0352] like Figure 16 As shown in (c), the vehicle can display the prompt message "Please engage P gear, and after exiting the vehicle, please close the door and remove any obstacles" on the central control screen. Before detecting that parking space 305 is vacant, the vehicle can keep the exit parking function in an inactive state; when detecting that parking space 305 is vacant, the vehicle can activate the exit parking function.

[0353] Optionally, the parking mode is remote control parking. In response to the target parking space being vacant, the system controls the vehicle to park in the target parking space using the parking mode, including: in response to determining the parking mode and the target parking space being occupied, controlling the vehicle to output a first prompt message, the first prompt message indicating that the remote control parking cannot be activated or indicating that the user needs to update the status of the target parking space to vacant; and in response to the target parking space being updated to vacant, controlling the vehicle to park in the target parking space.

[0354] For example, Figure 17 Another set of HMIs provided in an embodiment of this application is shown.

[0355] like Figure 17 As shown in (a), the vehicle can identify multiple parking spaces (including parking spaces 303-305) through data collected by sensors and display information about these spaces around the vehicle on the central control screen. Parking spaces 303 and 304 are in an unoccupied state, while parking space 305 is in an occupied state, for example, if parking space 305 is occupied by a temporary obstacle (such as a traffic cone). The HMI also includes controls 1701, 1702, and 1703. Control 1701 corresponds to the APA function, control 1702 corresponds to the off-parking function, and control 1703 corresponds to the remote parking function. When a user clicks on parking space 305, the vehicle can display information such as... on the central control screen. Figure 17 The HMI shown in (b) is shown in the image.

[0356] When the user's click action on parking space 305 is detected, it can be determined that the target parking space is parking space 305.

[0357] like Figure 17 As shown in (b), in response to detecting a user's click on parking space 305, the vehicle can display the parking path from its current location into parking space 305 and the prompt message "Please remove the obstacle; it is recommended to use off-vehicle parking or remote parking" on the central control screen. At this time, control 1701 is not clickable, while controls 1702 and 1703 are clickable. When a user click on control 1703 is detected, the vehicle can display the following on the central control screen: Figure 17 The HMI shown in (c) is shown in the image.

[0358] When a user clicks on control 1703, it can be determined that the parking mode is "parking off-vehicle".

[0359] Optionally, in response to determining the parking mode and the target parking space being occupied, the vehicle is controlled to output a first prompt message, including: when the target parking space is occupied, performing at least one of the following: controlling the vehicle's display screen to display the prompt message; controlling the vehicle's headlights to flash; or controlling the vehicle's speaker to emit a prompt sound.

[0360] like Figure 17 As shown in (c), in response to detecting a user clicking control 1703, the vehicle can display the prompt message "Please shift to P gear, and after getting out of the vehicle, please close the door and remove any obstacles" on the central control screen. For example, this first prompt message could be as follows: Figure 17 The prompt message shown in (c) is displayed. At this time, control 1704 can be displayed on the HMI. Control 1704 is the control for exiting remote parking.

[0361] Optionally, when the user clicks on the control 1703, the vehicle can control the headlights to flash; or, when the user gets off the vehicle, the headlights can be controlled to flash.

[0362] Optionally, the vehicle is controlled to output a first prompt message, including: sending a first message to a mobile terminal, the first message indicating that the target parking space is occupied, the mobile terminal being used to prompt that the remote parking cannot be activated and / or to prompt the user that the target parking space needs to be updated to be available.

[0363] For example, in response to determining that the parking mode is remote parking and the target parking space is in an occupied state, the vehicle can send the first message to the mobile phone. Figure 17 As shown in (d), in response to receiving the first message, the mobile phone can display the prompt message 1705 "System preparing, remote parking authorized, parking space occupied, vehicle in P gear, all four doors and two hoods closed." This prompt message can indicate to the user that remote parking cannot be activated, and / or, that the user needs to update the status of parking space 305 to available.

[0364] Optionally, the method 1200 further includes: when the status of the target parking space is updated to be vacant, the vehicle can send a second message to the mobile phone, the second message indicating that the status of the target parking space is vacant and / or the remote parking function is available.

[0365] In response to the second message, the mobile phone can display a prompt message to prompt the user to activate remote parking; in response to the user's input to activate remote parking, a third message is sent to the vehicle to indicate that remote parking is activated.

[0366] Optionally, in response to the status update of the target parking space being vacant, controlling the vehicle to park in the target parking space includes: in response to the status update of the target parking space being vacant and receiving a message sent by the mobile terminal, controlling the vehicle to park in the target parking space, wherein the message instructs the vehicle to park in the target parking space.

[0367] For example, such as Figure 17 As shown in (e), in response to receiving the second message, the mobile phone can display a remote parking interface. This interface includes the message "Remote parking available, click the parking button to start parking" and a start parking control 1706. Upon detecting a user clicking the start parking control 1706, the mobile phone can send the third message to the vehicle. In response to the third message, the vehicle can park in the target parking space.

[0368] Optionally, the parking mode is remote-controlled parking. In response to the target parking space being vacant, the vehicle is controlled to park in the target parking space using the remote-controlled parking method, including: in response to receiving an instruction sent by the mobile terminal, the instruction being used by the user to activate the remote-controlled parking method on the mobile terminal, and the target parking space being occupied, the vehicle is controlled to drive from the starting position to the vicinity of the target parking space and then stop; in response to the target parking space being updated to vacant, the vehicle is controlled to park in the target parking space.

[0369] For example, such as Figure 4 As shown in (a), in response to detecting a user click on control 403, the mobile phone can send a command to the vehicle instructing the user to activate remote parking on the mobile phone, at which point the target parking space (parking space 305) is in an occupied state. Upon receiving this command, the vehicle can drive from its current position to the vicinity of the target parking space and then stop. When the status of the target parking space is updated to vacant, the vehicle can park in the target parking space using remote parking.

[0370] Optionally, before controlling the vehicle to park in the target parking space in response to the target parking space status being updated to be vacant, the method 1200 further includes: controlling the vehicle to output a third prompt message in response to the target parking space status being occupied.

[0371] The process of controlling the vehicle to output the third prompt message can be referred to the process of controlling the vehicle to output the first prompt message.

[0372] For example, controlling the vehicle to output a third prompt message includes: sending a first message to a mobile terminal, the first message indicating that the target parking space is occupied.

[0373] For example, such as Figure 4 As shown in (d), in response to receiving the first message, the mobile phone can display the message "Parking space is temporarily occupied and waiting. Please remove the temporary obstacles in the parking space before continuing to park."

[0374] Optionally, the parking mode is remote control parking. Before receiving the user's second instruction, the method further includes: receiving another instruction from the user, which instructs the user to activate parking; and in response to the received other instruction, controlling the vehicle to travel from the starting position to the vicinity of the target parking space and then braking to a stop.

[0375] Figure 18 Another set of HMIs provided in an embodiment of this application is shown.

[0376] like Figure 18As shown in (a), after detecting that the vehicle has traveled from the starting position to the vicinity of the target parking space using APA, the vehicle can brake to a stop and the central control screen will display a prompt message: "Parking space detected to be occupied by an obstacle. APA function is paused. It is recommended to use off-vehicle parking or remote parking." At this time, control 1601 is in an unclickable state, while controls 1602 and 1603 are clickable. When the user clicks control 1603, the central control screen can display the following message: Figure 18 The HMI shown in (b) is shown in the image.

[0377] like Figure 18 As shown in (b), the vehicle can display the prompt message "Please shift to P gear, and after getting out of the vehicle, please close the door and remove any obstacles" on the central control screen.

[0378] When the vehicle detects that the target parking space is occupied, it can send an initial message to the mobile phone. For example... Figure 18 As shown in (c), in response to receiving the first message, the mobile phone can display the prompt message 1801 "System preparing, remote parking authorized, parking space occupied, vehicle in P gear, all four doors and two hoods closed." This prompt message can indicate to the user that remote parking cannot be activated, and / or, that the user needs to update the status of parking space 305 to available.

[0379] When the vehicle detects that the target parking space has changed to vacant, it can send a second message to the mobile phone. For example... Figure 18 As shown in (d), in response to receiving the second message, the mobile phone can display a remote parking interface. This interface includes the prompt "Remote parking available, click the parking button to start parking" and a start parking control 1802. Upon detecting a user clicking the start parking control 1802, the mobile phone can send a third message to the vehicle. In response to this third message, the vehicle can park in the target parking space.

[0380] Figure 19 A schematic flowchart of a parking method 1900 provided in an embodiment of this application is shown. The method 1900 can be executed by a mobile terminal. The method 1900 includes:

[0381] S1910, Receive the first message sent by the vehicle, which indicates that the target parking space is occupied.

[0382] S1920, in response to the first message, the control prompt device prompts that the parking mode cannot be activated, and / or prompts the user that the status of the target parking space needs to be updated to vacant, the parking mode including any of the following: off-vehicle parking, remote control parking.

[0383] For example, such as Figure 14As shown in (a), when the mobile phone receives the first message sent by the vehicle, it can display a prompt message "Parking space is occupied" on the screen. This prompt message can remind the user that parking cannot be activated after leaving the car, or remind the user to update the status of the target parking space to be available.

[0384] For example, such as Figure 17 As shown in (d), when the mobile phone receives the first message sent by the vehicle, it can display a prompt message "Parking space occupied" on the screen. This prompt message can indicate to the user that remote parking cannot be activated, or prompt the user to update the status of the target parking space to vacant.

[0385] Optionally, the parking mode is remote-controlled parking, and the method 1900 further includes: receiving a second message sent by the vehicle, the second message indicating that the target parking space is vacant; in response to the second message, the control display device prompts the user to activate the remote-controlled parking; in response to the user's input to activate the remote-controlled parking, sending a third message to the vehicle, the third message indicating the activation of the remote-controlled parking.

[0386] For example, such as Figure 17 As shown in (e), when the mobile phone receives the second message sent by the vehicle, it can display the prompt message "Remote parking is available. Click the parking button to start parking" and the start parking control 1706. When the user clicks the start parking control 1706, the third message can be sent to the vehicle.

[0387] Optionally, the first message may also be used to instruct the vehicle to drive to the vicinity of the target parking space.

[0388] For example, when the first message indicates that the target parking space is occupied and the vehicle is driven to the vicinity of the target parking space, the mobile phone can prompt the user that it is not possible to activate the exit parking or remote parking.

[0389] Optionally, before receiving the first message sent by the vehicle, the method 1900 further includes: receiving a fourth message sent by the vehicle, the fourth message indicating that the vehicle is moving away from the target parking space; and in response to the fourth message, a control prompting device prompts the user to activate the remote parking.

[0390] For example, such as Figure 4 As shown in (a), the vehicle can send a fourth message to the mobile phone, instructing the vehicle to move away from the target parking space. In response to this fourth message, the mobile phone can display the prompt message "Remote parking available, click the parking button to start parking" and the start parking control 403.

[0391] Optionally, the parking mode is off-vehicle parking, and the method further includes: receiving a fifth message sent by the vehicle, the fifth message indicating that the target parking space is vacant; in response to the fifth message, a control prompting device prompts that off-vehicle parking has been activated.

[0392] For example, such as Figure 14 As shown in (b), when the target parking space status is updated to vacant, the vehicle can activate the off-parking function and send a fifth message to the mobile phone indicating that the target parking space status is vacant. In response to the fifth message, the mobile phone can display the message "Vehicle is parking in the space using the off-parking function".

[0393] Figure 20 A schematic flowchart of a parking method 2000 provided in an embodiment of this application is shown. Figure 20 As shown, method 2100 can be executed by a mobile phone and a vehicle. Method 2000 includes:

[0394] Optional, S2001, allows for system self-test before remote parking via mobile phone.

[0395] Optional, S2002, the mobile phone sends an RPA service heartbeat to the finite state machine.

[0396] Optional, S2003, the finite state machine sends RPA authorization to the mobile phone.

[0397] S2004, the motion planning module detects that the target parking space is occupied.

[0398] S2005, the motion planning module sends a first message to the mobile phone, which indicates that the target parking space is occupied.

[0399] For example, when the target parking space is determined to be occupied, the motion planning module can send the first message to the mobile phone.

[0400] S2006, the mobile phone prompts that the remote parking self-check failed.

[0401] For example, such as Figure 17 As shown in (d), when the mobile phone receives this first message, it can indicate that the remote parking self-check has failed. For example, the mobile phone's display screen will show "Parking space occupied".

[0402] above Figure 20 The example described uses a vehicle that includes a motion planning module and a finite state machine, but the embodiments in this application are not limited to this. For example, the functions implemented by the finite state machine and the motion planning module can also be implemented by a unified module or system, such as a parking system or ADAS in the vehicle.

[0403] Figure 21 A schematic flowchart of a parking method 2100 provided in an embodiment of this application is shown. Figure 21 As shown, method 2100 can be executed by a mobile phone and a vehicle. Method 2100 includes:

[0404] S2101, the motion planning module detected that the target parking space is occupied and does not allow activation of parking after leaving the vehicle.

[0405] S2102, the motion planning module sends a first message to the mobile phone, which indicates that the target parking space is occupied.

[0406] S2103, the phone indicates that the target parking space is occupied.

[0407] For example, such as Figure 14 As shown in (a), the phone can display a message saying "The parking space is occupied".

[0408] Optionally, in S2104, the motion planning module stops sending the first message when it detects that the target parking space is vacant.

[0409] For example, such as Figure 14 As shown in (b), when the motion planning module detects that the target parking space is vacant, it stops sending the first message and sends a second message to the mobile phone, indicating that the target parking space is vacant. In response to the second message, the mobile phone can indicate that the vehicle is parking in the space using the exit parking function.

[0410] S2105, motion planning activated for parking after departure.

[0411] above Figure 21 The example described uses a vehicle that includes a motion planning module and a finite state machine, but the embodiments in this application are not limited to this. For example, the functions implemented by the finite state machine and the motion planning module can also be implemented by a unified module or system, such as a parking system or ADAS in the vehicle.

[0412] Figure 22 A schematic flowchart of a parking method 2200 provided in an embodiment of this application is shown. The method 2200 includes components that can be executed by various modules in a vehicle. The method 2200 includes:

[0413] Optionally, in S2201, the perception module acquires information about parking spaces and obstacles.

[0414] Optionally, the sensing module acquires information about parking spaces and obstacles, including: when the vehicle is in the parking lot and the vehicle's speed is less than or equal to a preset speed, the sensing module acquires information about parking spaces and temporary obstacles.

[0415] For example, the preset speed is 20 km / h.

[0416] For example, the obstacle may include traffic cones, parking locks, motorcycles, non-motorized vehicles (e.g., bicycles), other vehicles, etc., located in the parking space.

[0417] Optionally, in S2202, the perception module sends information about parking spaces and obstacles to the motion planning module.

[0418] Optionally, in S2203, the motion planning module sends information about available parking spaces and parking spaces occupied by obstacles to the display system.

[0419] For example, the motion planning module sends information about parking spaces 303-305 and the cones to the display system.

[0420] Optional, S2204, the display system can display available parking spaces and parking spaces occupied by obstacles through the central control screen.

[0421] For example, such as Figure 13 As shown in (a), the vehicle can display parking spaces 303-305 on the display screen, where parking spaces 303 and 304 are vacant parking spaces, and parking space 305 is a parking space occupied by an obstacle.

[0422] S2205, the display system received the user's instruction to click on the parking space occupied by an obstacle.

[0423] For example, such as Figure 13 As shown in (a), the display system can detect the user's click on parking space 305.

[0424] S2206, the display system sends information about parking spaces occupied by obstacles to the motion planning module.

[0425] Optional, S2207, the motion planning module plans the parking path from the vehicle's starting position to a parking space occupied by an obstacle.

[0426] For example, such as Figure 13 As shown in (b) above, the vehicle can display the parking path.

[0427] Optionally, in S2208, the motion planning module sends parking preparation information to the finite state machine.

[0428] Optionally, S2209, the finite state machine switches the vehicle's state to standby based on the parking preparation information sent by the motion planning module.

[0429] S2210, the finite state machine indicates to the display system that the parking space is occupied.

[0430] S2211, in response to receiving this instruction, the display system can display the parking space occupied by the obstacle through the central control screen, supporting remote control parking or parking away from the vehicle, but does not support APA.

[0431] For example, such as Figure 13 As shown in (b), the display system can display on the central control screen that it supports parking in parking space 305 by leaving the vehicle or by remote control (controls 1302 and 1303 can be clicked), but does not support APA (control 1301 cannot be clicked).

[0432] S2212, the display system receives the user's instruction to remotely control parking or park away from the vehicle.

[0433] For example, such as Figure 13 As shown in (b), when the display system detects the user's click on the control 1302, it obtains the user's instruction to leave the vehicle and park.

[0434] S2213, the display system prompts the user via the central control screen to shift into P gear and remove temporary obstacles after getting out of the car, closing the door.

[0435] For example, such as Figure 13 As shown in (c), when the user clicks on the control 1302, the display system can display the prompt message "Please shift to P gear, and after getting out of the car, please close the door and remove the obstacles in the parking space" on the central control screen.

[0436] above Figure 22 The example described uses a vehicle with three modules: a perception module, a motion planning module, and a finite state machine. However, the embodiments in this application are not limited to this. For instance, the functions implemented by the aforementioned perception module, motion planning module, and finite state machine can also be implemented by a unified module or system, such as a parking system or ADAS in the vehicle.

[0437] Figure 23 A schematic block diagram of a parking device 2300 provided in an embodiment of this application is shown. The device 2300 includes: a determining unit 2310, configured to determine a target parking space, the target parking space being in an occupied state; the determining unit 2310 is further configured to determine a parking mode, the parking mode including exit parking; and a control unit 2320, configured to control a vehicle to park in the target parking space using the exit parking mode in response to the target parking space being in an vacant state.

[0438] Optionally, the control unit 2320 is specifically configured to: in response to the determining unit determining the parking mode and the target parking space being occupied, control the vehicle to output a first prompt message, the first prompt message indicating that parking out cannot be activated and / or indicating that the user needs to update the status of the target parking space to vacant; and in response to the target parking space being updated to vacant, control the vehicle to park in the target parking space.

[0439] Optionally, the control unit 2320 is specifically configured to: in response to the determining unit determining the parking mode and the target parking space being occupied, control the vehicle to drive from the starting position to the vicinity of the target parking space and then stop; in response to the target parking space being updated to be vacant, control the vehicle to park in the target parking space.

[0440] Optionally, the control unit 2320 is further configured to: control the vehicle to output a second prompt message, the second prompt message being used to instruct the user to update the status of the target parking space to vacant, the output method of the second prompt message including at least one of the following: flashing headlights, sound, or pushing prompt message to a mobile terminal.

[0441] Optionally, the device 2300 further includes: a receiving unit, configured to receive an instruction from the user before the determining unit determines the parking mode, the instruction instructing the user to activate parking; and a control unit 2320, configured to, in response to the received instruction, control the vehicle to travel from the starting position to the vicinity of the target parking space and then brake to a stop.

[0442] In one embodiment, the determining unit 2310 is configured to determine a target parking space, the target parking space being in an occupied state; the determining unit is also configured to determine a parking mode 2310, the parking mode including remote control parking; the control unit 2320 is configured to control a vehicle to park in the target parking space using the remote control parking method in response to the target parking space being in an vacant state.

[0443] Optionally, the control unit 2320 is specifically configured to: in response to the determining unit determining the parking mode and the target parking space being occupied, control the vehicle to output a first prompt message, the first prompt message indicating that the remote parking cannot be activated or indicating that the user needs to update the status of the target parking space to vacant; and in response to the target parking space being updated to vacant, control the vehicle to park in the target parking space.

[0444] Optionally, the control unit 2320 is specifically used to: send a first message to a mobile terminal, the first message indicating that the target parking space is occupied, and the mobile terminal is used to prompt that the remote parking cannot be activated and / or prompt the user that the status of the target parking space needs to be updated to available.

[0445] Optionally, the control unit 2320 is specifically configured to: in response to receiving an instruction sent by the mobile terminal, the instruction being used by the user to activate the remote parking on the mobile terminal, and the target parking space being occupied, control the vehicle to drive from the starting position to the vicinity of the target parking space and then stop; in response to the target parking space being updated to be vacant, control the vehicle to park in the target parking space.

[0446] Optionally, the device 2300 further includes: a receiving unit, configured to receive another instruction from the user before the determining unit determines the parking mode, the other instruction instructing the user to activate parking; and in response to the received other instruction, controlling the vehicle to travel from the starting position to the vicinity of the target parking space and then braking to a stop.

[0447] Figure 24 A schematic block diagram of a parking device 2400 provided in an embodiment of this application is shown. The device 2400 includes: a receiving unit 2410, configured to receive a first message sent by a vehicle, the first message indicating that the target parking space is occupied; and a control unit 2420, configured to, in response to the first message, control a prompting device to prompt that a parking mode cannot be activated, and / or prompt the user to update the status of the target parking space to vacant, the parking mode including any one of the following: off-vehicle parking, remote control parking.

[0448] Optionally, the parking mode is remote control parking. The receiving unit 2410 is further configured to receive a second message sent by the vehicle, the second message indicating that the target parking space is vacant. The control unit 2420 is further configured to, in response to the second message, control the display device to prompt the user to activate the remote control parking. The device 2400 further includes a sending unit, configured to, in response to the user's input to activate the remote control parking, send a third message to the vehicle, the third message indicating that the remote control parking is activated.

[0449] Optionally, the first message may also be used to instruct the vehicle to drive to the vicinity of the target parking space.

[0450] Optionally, the receiving unit 2410 is further configured to receive a third message sent by the vehicle before receiving the first message, the third message instructing the vehicle to move away from the target parking space; the control unit 2420 is further configured to respond to the third message by controlling the prompting device to prompt the user to activate the remote parking.

[0451] Optionally, the parking mode is off-vehicle parking, and the receiving unit 2410 is also used to receive a fourth message sent by the vehicle, the fourth message indicating that the target parking space is vacant; the control unit 2420 is also used to respond to the fourth message and control the prompting device to indicate that off-vehicle parking has been activated.

[0452] This application also provides a parking system, which may include sensors and a computing platform, the computing platform including the aforementioned device 1000 or device 2300.

[0453] This application also provides a vehicle that may include the parking device 1000 or the device 2300 described above.

[0454] This application embodiment also provides a mobile terminal, which may include the parking device 1100 or device 2400 described above. It should be understood that the division of units in the above devices is only a logical functional division; in actual implementation, all or part of them can be integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the device can be implemented in the form of a processor calling software; for example, the device includes a processor connected to a memory, which stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of each unit in the device. The processor is, for example, a general-purpose processor, such as a CPU or microprocessor, and the memory is either internal or external to the device. Alternatively, the units in the device can be implemented in the form of hardware circuits. The functions of some or all units can be implemented through the design of the hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units are implemented through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a PLD, such as an FPGA, which may include a large number of logic gates. The connection relationships between the logic gates are configured through a configuration file, thereby implementing the functions of some or all of the above units. All units of the above devices can be implemented entirely through processor calling software, or entirely through hardware circuits, or partially through processor calling software with the remaining parts implemented through hardware circuits.

[0455] In this application embodiment, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a CPU, microprocessor, GPU, or DSP. In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented as an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement the functions of some or all of the above units. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, or DPU.

[0456] As can be seen, each unit in the above device can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0457] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together as a System-on-a-Chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the device. The at least one processor may be of different types, such as CPU and FPGA, CPU and AI processor, CPU and GPU, etc.

[0458] This application also provides an apparatus comprising a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to cause the apparatus to perform the methods or steps described in the above embodiments.

[0459] Optionally, if the device is located in a vehicle, the aforementioned processing unit may be Figure 1 The processors shown are 121-12n.

[0460] This application also provides a parking system, which may include the vehicle and mobile terminal described above, or may include the device 1000 and device 1100 described above.

[0461] This application also provides a vehicle that may include the parking device 1000 described above.

[0462] This application also provides a mobile terminal, which may include the parking device 1100 described above.

[0463] This application also provides a computer program product, which includes computer program code that, when run on a computer, causes the computer to perform the methods described in the above embodiments.

[0464] This application also provides a computer-readable medium storing program code that, when run on a computer, causes the computer to perform the methods described in the above embodiments.

[0465] This application also provides a chip, which includes a circuit for performing the methods described in the above embodiments.

[0466] In implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software. The method disclosed in the embodiments of this application can be directly implemented by a hardware processor, or by a combination of hardware and software modules within the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, power-on erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0467] It should be understood that in the embodiments of this application, the memory may include read-only memory and random access memory, and provides instructions and data to the processor.

[0468] It should also be understood that, in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0469] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0470] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0471] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0472] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0473] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0474] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0475] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be covered. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A parking method, characterized in that, include: Receives a first instruction from the user, which instructs the user to park in a target parking space using the Remote Parking Assist (RPA) function, where a temporary obstacle is placed in the target parking space. In response to receiving the first instruction, a second instruction is sent to the mobile terminal and the control prompting device prompts the user to get out of the car and remove the temporary obstacle. The second instruction is used to instruct the user to park in the target parking space through the RPA function. When the system detects that a user has alighted from the vehicle and receives a third instruction sent by the mobile terminal, it controls the vehicle to park in the target parking space. The third instruction is used to instruct the vehicle to park in the target parking space. Before receiving the user's first instruction, the method further includes: Obtain information on one or more parking spaces, wherein the one or more parking spaces include vacant parking spaces and the target parking space; When the information of one or more parking spaces is obtained, the vehicle's display screen is controlled to display the information of one or more parking spaces, the controls corresponding to the Automatic Parking Assist (APA) function, and the controls corresponding to the RPA function; When the system detects that a user has selected the target parking space via the display screen, it controls the display screen to display that the control corresponding to the APA function cannot be clicked, while the control corresponding to the RPA function can be clicked.

2. The method according to claim 1, characterized in that, The method further includes: When the distance between the vehicle and the temporary obstacle is less than or equal to a preset distance, the vehicle is controlled to stop parking in the target parking space and a fifth instruction is sent to the mobile terminal. The fifth instruction is used to instruct the mobile terminal to prompt the user to remove the temporary obstacle.

3. The method according to claim 2, characterized in that, The method further includes: If the user removes the temporary obstacle within a first preset time period, the system controls the vehicle to continue parking in the target parking space.

4. The method according to claim 2, characterized in that, The method further includes: If the user does not remove the temporary obstacle within a first preset time period, a sixth instruction is sent to the mobile terminal, the sixth instruction indicating that the temporary obstacle has not been removed within the first preset time period.

5. The method according to claim 4, characterized in that, The method further includes: Upon receiving the seventh instruction sent by the mobile terminal and detecting that the temporary obstacle has been removed, the system controls the vehicle to continue parking in the target parking space. The seventh instruction is used to instruct the restoration of the RPA function.

6. A parking method, characterized in that, include: The vehicle receives a second instruction sent by the vehicle, which instructs the vehicle to park in a target parking space using the Remote Parking Assist (RPA) function. The target parking space is a parking space identified by the vehicle and has a temporary obstacle placed there. If a temporary obstacle is placed in the target parking space, the vehicle's display screen shows that the control corresponding to the APA function cannot be clicked, while the control corresponding to the RPA function can be clicked. According to the second instruction, the display device is controlled to display a first interface, the first interface including a first control, the first control being a control to enable the RPA function; Upon receiving the user's first input to the first control, a third instruction is sent to the vehicle, which instructs the vehicle to begin parking in the target parking space.

7. The method according to claim 6, characterized in that, The method further includes: When the user's first input to the first control is received, the display device is controlled to switch from displaying the first interface to displaying the second interface, which is the display interface for the vehicle to be parked in the target parking space; The system receives a fifth instruction sent by the vehicle, which instructs the mobile terminal to prompt the user to remove the temporary obstacle. According to the fifth instruction, the display device is controlled to switch from displaying the second interface to displaying the third interface. The third interface includes a first prompt message, which is used to prompt the user to remove the temporary obstacle.

8. The method according to claim 7, characterized in that, The method further includes: The vehicle receives a sixth instruction indicating that the temporary obstacle has not been removed within a first preset time period. According to the sixth instruction, the display device is controlled to switch from displaying the third interface to displaying the fourth interface, which includes a second prompt message to indicate that the RPA function has been suspended.

9. The method according to claim 8, characterized in that, The fourth interface also includes a second control, which is a control for restoring the automatic parking function. The method further includes: Upon receiving a second input from the user regarding the second control, a seventh instruction is sent to the vehicle, the seventh instruction being used to instruct the restoration of the RPA function.

10. A parking device, characterized in that, include: A receiving unit is used to receive a first instruction from a user, the first instruction instructing the user to park in a target parking space via the remote parking assist (RPA) function, wherein a temporary obstacle is placed in the target parking space. The sending unit is configured to, in response to receiving the first instruction, send a second instruction to the mobile terminal and the control prompting device prompts the user to get out of the vehicle and remove the temporary obstacle, wherein the second instruction is configured to instruct the user to park in the target parking space through the RPA function; The control unit is configured to control the vehicle to park in the target parking space when it detects that a user has gotten out of the vehicle and receives a third instruction sent by the mobile terminal, wherein the third instruction is used to instruct the vehicle to park in the target parking space; The device further includes: The acquisition unit is configured to acquire information on one or more parking spaces before the receiving unit receives the user's first instruction, wherein the one or more parking spaces include vacant parking spaces and the target parking space; The control unit is also used to control the vehicle's display screen to display the information of the one or more parking spaces, the controls corresponding to the Automatic Parking Assist (APA) function, and the controls corresponding to the RPA function when the information of the one or more parking spaces is obtained; When the system detects that a user has selected the target parking space via the display screen, it controls the display screen to display that the control corresponding to the APA function cannot be clicked, while the control corresponding to the RPA function can be clicked.

11. The apparatus according to claim 10, characterized in that, The control unit is further configured to, when the distance between the vehicle and the temporary obstacle is less than or equal to a preset distance, control the vehicle to stop parking in the target parking space and send a fifth instruction to the mobile terminal, the fifth instruction being used to instruct the mobile terminal to prompt the user to remove the temporary obstacle.

12. The apparatus according to claim 11, characterized in that, The control unit is also configured to control the vehicle to continue parking in the target parking space when it detects that the user has removed the temporary obstacle within a first preset time period.

13. The apparatus according to claim 11, characterized in that, The sending unit is further configured to send a sixth instruction to the mobile terminal when the control unit does not detect that the user has removed the temporary obstacle within a first preset time period, the sixth instruction indicating that the temporary obstacle has not been removed within the first preset time period.

14. The apparatus according to claim 11, characterized in that, The control unit is further configured to control the vehicle to continue parking in the target parking space when the receiving unit receives the seventh instruction sent by the mobile terminal and detects that the temporary obstacle has been removed, wherein the seventh instruction is used to instruct the restoration of the RPA function.

15. A parking device, characterized in that, include: The receiving unit is used to receive a second instruction sent by the vehicle. The second instruction is used to instruct the vehicle to park in a target parking space through the remote parking assist (RPA) function. The target parking space is a parking space identified by the vehicle and has a temporary obstacle placed there. When a temporary obstacle is placed in the target parking space, the vehicle's display screen shows that the control corresponding to the APA function cannot be clicked, while the control corresponding to the RPA function can be clicked. The control unit is configured to control the display device to display a first interface according to the second instruction. The first interface includes a first control, which is a control to enable the RPA function. The sending unit is configured to send a third instruction to the vehicle when the acquiring unit receives the user's first input to the first control, the third instruction being used to instruct the vehicle to begin parking in the target parking space.

16. The apparatus according to claim 15, characterized in that, The control unit is further configured to control the display device to switch from displaying the first interface to displaying the second interface when the acquisition unit acquires the user's first input to the first control, wherein the second interface is the display interface of the vehicle parking in the target parking space; The receiving unit is also configured to receive a fifth instruction sent by the vehicle, the fifth instruction being used to instruct the mobile terminal to prompt the user to remove the temporary obstacle; The control unit is further configured to control the display device to switch from displaying the second interface to displaying the third interface according to the fifth instruction. The third interface includes a first prompt message, which is used to prompt the user to remove the temporary obstacle.

17. The apparatus according to claim 16, characterized in that, The receiving unit is also configured to receive a sixth instruction sent by the vehicle, the sixth instruction indicating that the temporary obstacle has not been removed within a first preset time period; The control unit is further configured to control the display device to switch from displaying the third interface to displaying the fourth interface according to the sixth instruction. The fourth interface includes a second prompt message, which is used to indicate that the RPA function has been suspended.

18. The apparatus according to claim 17, characterized in that, The fourth interface also includes a second control, which is a control for restoring the automatic parking function. The sending unit is further configured to send a seventh instruction to the vehicle when the acquisition unit acquires the user's second input to the second control, the seventh instruction being used to instruct the restoration of the RPA function.

19. A parking device, characterized in that, include: Memory, used to store computer programs; A processor for executing a computer program stored in the memory to cause the apparatus to perform the method as described in any one of claims 1 to 5.

20. A parking device, characterized in that, include: Memory, used to store computer programs; A processor for executing a computer program stored in the memory to cause the apparatus to perform the method as described in any one of claims 6 to 9.

21. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 10 to 14 and 19.

22. A mobile terminal, characterized in that, Includes the apparatus as described in any one of claims 15 to 18 and 20.

23. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, cause the processor to implement the method as described in any one of claims 1 to 5, or to implement the method as described in any one of claims 6 to 9.

24. A computer program product, characterized in that, The computer program product includes computer program code that, when run on a computer, causes the computer to implement the method as described in any one of claims 1 to 5, or to implement the method as described in any one of claims 6 to 9.

25. A chip, characterized in that, The chip includes a circuit for performing the method as described in any one of claims 1 to 5, or implementing the method as described in any one of claims 6 to 9.

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