Parking control method and device, electronic equipment and storage medium

Abstract

The invention discloses a parking control method and device, electronic equipment and a storage medium. The method comprises the steps that the installation position of a charging gun on a charging pile corresponding to a target parking space, the line length of the charging gun and the position of a charging port of a vehicle are obtained; according to the installation position, the line length and the position of the charging port, the vehicle is controlled to be parked at the target position in the target pose, and under the condition that the vehicle is parked at the target position in the target pose, the distance between the position of the charging port of the vehicle and the installation position is smaller than the line length, and the vehicle body of the vehicle is in the area of the target parking space. Therefore, the parking position and posture are controlled by combining the position of the charging port of the vehicle, the mounting position of the charging gun on the charging pile and the line length of the charging gun, the reasonability of the parking position of the vehicle is improved, and the charging convenience of the vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic driving, and more particularly, to a parking control method and device, an electronic device, and a storage medium. BACKGROUND

[0002] With the continuous growth of social economy, automobiles as modern transportation tools are becoming more and more popular, and the automatic parking technology of vehicles is being increasingly adopted. In the related art, the requirements for automatic parking of vehicles are increasingly high, and vehicles can be conveniently charged. SUMMARY

[0003] Therefore, embodiments of the present application provide a parking control method, device, electronic device, and storage medium to improve the above problems.

[0004] In a first aspect, embodiments of the present application provide a parking control method, which includes: obtaining an installation position of a charging gun on a charging pile corresponding to a target parking space, a wire length of the charging gun, and a position of a charging port of a host vehicle; and controlling the host vehicle to park at a target position with a target pose according to the installation position, the wire length, and the position of the charging port, wherein a distance between the position of the charging port of the host vehicle and the installation position is less than the wire length, and a vehicle body of the host vehicle is within a region of the target parking space when the host vehicle parks at the target position with the target pose.

[0005] In a second aspect, embodiments of the present application provide a parking control device, which includes: an environment information obtaining module and a parking module. The environment information obtaining module is configured to obtain an installation position of a charging gun on a charging pile corresponding to a target parking space, a wire length of the charging gun, and a position of a charging port of a host vehicle. The parking module is configured to control the host vehicle to park at a target position with a target pose according to the installation position, the wire length, and the position of the charging port, wherein a distance between the position of the charging port of the host vehicle and the installation position is less than the wire length, and a vehicle body of the host vehicle is within a region of the target parking space when the host vehicle parks at the target position with the target pose.

[0006] In a third aspect, embodiments of the present application provide an electronic device, which includes a memory and a processor. The memory is coupled to the processor, and stores instructions. When the instructions are executed by the processor, the processor performs the parking control method provided in the first aspect.

[0007] In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, which stores program codes. The program codes can be called by a processor to perform the parking control method provided in the first aspect.

[0008] In the scheme of the present application, the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle are acquired, and the vehicle is controlled to park at the target position with the target pose according to the installation position, the length of the charging gun, and the position of the charging port, wherein the distance between the position of the charging port of the vehicle and the installation position is less than the length of the charging gun, and the vehicle body is within the area of the target parking space when the vehicle parks at the target position with the target pose, so that the position and pose of parking are controlled in combination with the charging port position of the vehicle, the installation position of the charging gun on the charging pile corresponding to the parking space, and the length of the charging gun, effectively avoiding the problem of charging failure caused by the fact that the vehicle cannot normally use the charging gun to connect the charging port of the vehicle after the vehicle is automatically parked in the parking space due to the relatively short length of the charging gun, improving the rationality of the parking position of the vehicle, and improving the convenience of vehicle charging. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0010] Figure 1 A flowchart of a parking control method provided by an embodiment of the present application is shown; Figure 2 A schematic diagram of vehicle parking provided by an example of the present application is shown; Figure 3 A schematic diagram of vehicle parking provided by an example of the present application is shown; Figure 4 A schematic diagram of vehicle parking provided by an example of the present application is shown; Figure 5 A structural block diagram of a vehicle provided by an embodiment of the present application is shown; Figure 6 A schematic diagram of vehicle parking provided by an example of the present application is shown; Figure 7 A schematic diagram of vehicle parking provided by an example of the present application is shown; Figure 8 A flowchart of a parking control method provided by an embodiment of the present application is shown; Figure 9 A module block diagram of a parking control device provided by an embodiment of the present application is shown; Figure 10 A block diagram of an electronic device for executing the parking control method according to the embodiments of the present application is shown. DETAILED DESCRIPTION

[0011] In order for those skilled in the art to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application.

[0012] The implementation details of the technical solutions of the embodiments of the present application are described in detail as follows: In the related art, in the automatic parking process, for such special scenarios as charging pile parking spaces, visual detection and ultrasonic detection are generally used to determine whether there is a charging pile and the position of the charging pile, and then the head or tail parking mode is determined according to the installation position of the charging port of the vehicle (the front or the tail) when automatic parking. In addition, during the parking process, the distance information between the charging pile and the vehicle is detected by the ultrasonic radar, or the visual detection and the ultrasonic radar distance measurement information are fused to obtain more accurate charging pile position information.

[0013] At present, the parking decision based on the charging pile parking space scenario mainly considers whether there is a charging pile, detects the position of the charging pile itself, and makes a parking decision according to the position of the charging port of the vehicle and the position information of the charging pile. When making a final decision, the first decision is whether to use the head or tail parking mode, and then the longitudinal parking position is adjusted according to the position relationship and distance information between the charging pile and the parking space to avoid collision and rationalize the final position. However, in actual charging scenarios, the charging gun on the charging pile needs to be connected to the charging port of the vehicle for charging. However, in some special scenarios, due to the differences in the installation position of the charging gun on different charging piles and the length of the charging gun cable, there may be limitations caused by only considering the position of the charging pile. For example, when the charging gun cable of the charging pile is too short, if the parking end is still determined according to the existing prior knowledge, the charging gun cable may not be long enough to connect to the charging port of the vehicle after parking, which is still a parking failure in a certain sense. In addition, in some complex scenarios, such as scenarios where there are charging piles in adjacent parking spaces, if the charging gun of the rear charging pile of the vehicle is occupied by the vehicle in the next parking space due to damage of the charging pile or other reasons, the charging pile position information alone cannot be used to identify this situation in advance.

[0014] Therefore, in the related art, during the automatic parking and charging process of the vehicle, the unreasonable parking position leads to low convenience of vehicle charging.

[0015] To solve the above problems, the inventors have found, through long-term research, the parking control method, device, electronic device and storage medium provided in the embodiments of the present application. The parking control method, device, electronic device and storage medium provided in the embodiments of the present application control the position and pose of parking by combining the charging port position of the vehicle, the installation position of the charging gun on the charging pile corresponding to the parking space, and the length of the charging gun cable. The charging failure problem caused by the relatively short length of the charging gun cable, which results in the vehicle being unable to normally use the charging gun to connect the charging port of the vehicle after automatically parking in the parking space, is effectively avoided. The rationality of the parking position of the vehicle is improved, and the convenience of charging the vehicle is improved. The specific parking control method is described in detail in subsequent embodiments.

[0016] The embodiments related to the present application will be described below in conjunction with the accompanying drawings.

[0017] Please refer to Figure 1 , Figure 1 The flowchart of the parking control method provided in an embodiment of the present application is shown. In specific embodiments, the parking control method can be applied to the parking control device 200 as shown in Figure 9 and the electronic device 100 configured with the parking control device 200. Figure 10 The specific flow of the present embodiment will be described below taking the electronic device as an example. It can be understood that the electronic device to which the present embodiment is applied can include a vehicle, a vehicle-mounted terminal and other devices, which are not limited here. The flow shown in Figure 1 will be described in detail below. The parking control method can specifically include the following steps: Step S110: Obtain the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle.

[0018] In this embodiment, the electronic device can be understood as a vehicle (the vehicle); wherein the vehicle can be equipped with automatic parking technology. Among them, the vehicle can be provided with ultrasonic radar, visual camera sensor, laser radar and other devices, the vehicle can control the automatic parking based on the data detected by the ultrasonic radar, visual camera sensor, laser radar and other devices. For example, the vehicle can use the ultrasonic device provided in the vehicle to detect the charging pile position corresponding to the parking space, so that the vehicle is automatically parked on the parking position corresponding to the charging pile. For another example, the vehicle can obtain the parking area image corresponding to the parking space through the camera sensor, and can output the parking area image to the pre-set charging parking space recognition model in the vehicle, so that the charging parking space recognition model identifies the parking space and the charging pile in the parking area image, generates the position information of the charging pile and the position information of the parking space, and determines the parking mode according to the position information of the charging pile, the position information of the parking space and the position information of the vehicle charging port; and can park the vehicle in the parking space according to the selected parking mode and the position information of the parking space, so as to automatically select the parking mode and automatically park based on the position recognition of the charging pile. For another example, the vehicle can be provided with ultrasonic radar sensor and fisheye camera, and the position information of the charging pile can be calculated through ultrasonic triangulation, target recognition in image and multi-source sensor data fusion, and the optimal parking endpoint position can be calculated according to the detection of the parking space, such as the limit block in the parking space or the remaining obstacle behind, and the vehicle is parked according to the endpoint position.

[0019] In some embodiments, the vehicle can obtain the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun and the position of the charging port of the vehicle. Among them, the target parking space is a parking space that is idle and the charging pile is not occupied. Among them, the target parking space can be pre-set in the vehicle, or can be obtained by the vehicle from the associated cloud or electronic device.

[0020] Among them, the vehicle can capture the image in the parking range corresponding to the vehicle through the surround view fisheye camera, and can identify the parking space and the charging pile based on the pre-set neural network model, and can project the identification result of the parking space and the charging pile to the bird's eye view BEV image, convert it to an environment map, obtain the relative position relationship between the charging pile and the parking space, and can analyze the position coordinates of the charging pile in the parking space coordinate system. Among them, the vehicle can also identify the semantic extraction of the charging pile in the image to obtain the installation position of the charging gun on the charging pile (left or right), and can capture whether the charging gun on the charging pile is in idle or working state (such as being occupied by the adjacent parking space) and the visible length of the charging gun line from the image, so as to predict the coverable distance of the charging gun line after extension (the length of the charging gun).

[0021] Wherein, the vehicle can determine whether the charging gun on the charging pile is in an idle or working state by detecting whether the charging gun is connected to other vehicles outside the vehicle, or can determine whether the charging gun on the charging pile is in an idle or working state by detecting whether the charging gun is placed in the mounting position of the charging pile.

[0022] Wherein, the vehicle can also pre-store the position information of the charging port of the vehicle, and the vehicle can also obtain the position information of the charging port of the vehicle from the associated cloud or electronic device, and the vehicle can also determine the position information of the charging port of the vehicle through the data detected by the visual sensor.

[0023] In this embodiment, after the vehicle determines the target parking space, the vehicle can obtain the mounting position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle based on the data detected by the ultrasonic radar, visual camera sensor, laser radar and other devices arranged in the vehicle.

[0024] Step S120: controlling the vehicle to park at the target position with a target pose according to the mounting position, the length and the position of the charging port, wherein, when the vehicle parks at the target position with the target pose, the distance between the position of the charging port of the vehicle and the mounting position is less than the length, and the vehicle body is within the area of the target parking space.

[0025] In some embodiments, after the vehicle obtains the mounting position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle, the vehicle can control the vehicle to park at the target position with a target pose according to the mounting position, the length and the position of the charging port. Wherein, when the vehicle parks at the target position with the target pose, the distance between the position of the charging port of the vehicle and the mounting position of the charging gun is less than the length of the charging gun, and the vehicle body is within the area of the target parking space.

[0026] Wherein, the target position can be understood as the two-dimensional coordinates (x, y) of the vehicle in the vehicle coordinate system (for example, with the center of the rear axle of the vehicle as the coordinate origin); wherein, the target pose can be understood as the heading angle yaw of the vehicle. Wherein, the target position and the target pose can be determined as three-element vector data, and the vehicle parks based on the three-element vector data.

[0027] Wherein, after the vehicle determines the three-element vector data corresponding to the parking of the vehicle, the vehicle can determine the target point of the parking according to the three-element vector data, and can take the current position of the vehicle as the starting point of the path planning based on the automatic parking technology carried in the vehicle to obtain the path planning by controlling the vehicle to park into the target point as the end point, and control the vehicle to park into the target parking space and reach the target point based on the planned path.

[0028] For example,Figure 2 This illustrates a schematic diagram of vehicle parking provided in an example of this application. The vehicle can determine the target position and target pose based on the installation position of the charging gun on the charging pile 11 corresponding to the target parking space 10, the length of the charging gun's connecting cable 12, and the position of the vehicle's charging port 13. It can also control the vehicle to park at the target position with the rear of the vehicle in the target pose (e.g., ...). Figure 2 Park the car close to the right side of the target parking space 10 (without the wheels pressing the right side of the target parking space 10), with the distance between the location of the car's charging port 13 and the installation location of the charging gun corresponding to the target parking space 10 being less than the length of the charging gun's connecting line 12, and the car body being within the area of ​​the target parking space 10.

[0029] For example, please refer to Figure 3 This illustrates a schematic diagram of vehicle parking provided in an example of this application. The vehicle can determine the target position and target pose based on the installation position of the charging gun on the charging pile 21 corresponding to the target parking space 20, the length of the charging gun's connecting cable 22, and the position of the vehicle's charging port 23. It can also control the vehicle to park at the target position with the rear of the vehicle in the target pose (e.g., ...). Figure 3 Park the car close to the left side of the target parking space 20 (without the wheels crossing the left side of the target parking space 20), ensuring that the distance between the location of the car's charging port 23 and the installation location of the charging gun corresponding to the target parking space 20 is less than the length of the charging gun's connecting line 22, and that the car's body is within the area of ​​the target parking space 20.

[0030] For example, please refer to Figure 4 This illustrates a schematic diagram of vehicle parking provided in an example of this application. The vehicle can determine the target position and target pose based on the installation position of the charging gun on the charging pile 31 corresponding to the target parking space 30, the length of the charging gun's connecting cable 32, and the position of the vehicle's charging port 33. It can also control the vehicle to park at the target position with the rear of the vehicle in the target pose (e.g., ...). Figure 3 As shown, park the car in the center of the target parking space 30 and close to the parking line behind the target parking space 30 (the wheels do not cross the parking line on the left side of the target parking space 30), with the distance between the position of the car's charging port 33 and the installation position of the charging gun corresponding to the target parking space 30 being less than the length of the charging gun's connecting line 32, and the car body being within the area of ​​the target parking space 30.

[0031] For example, please refer to Figure 5Fig. 1 shows a structural diagram of a vehicle according to an embodiment of the present application. The vehicle can include a perception detection unit, a scene decision unit, and a planning control unit. The perception detection unit can obtain data detected by sensors arranged in the vehicle, and can extract, through semantic recognition, information such as the installation position of a charging gun on a charging pile, the use state of the charging gun, and the length of the charging gun from the charging pile image data detected by the sensors (such as ultrasonic radar distance information), and use the information as a basis for decision of the scene decision unit.

[0032] For the judgment of the charging pile position, the perception detection unit can obtain, through the target recognition based on the image by the camera and the judgment of the distance of the obstacle by the ultrasonic sensor, the two-dimensional coordinates and attributes (such as three-dimensional data of the charging pile, the vehicle, the charging gun, the line of the charging gun, and the obstacle) of the obstacle of the charging pile category in the vehicle coordinate system (with the center of the rear axle of the vehicle as the coordinate origin) by synchronizing and fusing the data. For example, the perception detection unit can calculate the two-dimensional coordinate points of the obstacle based on the ultrasonic echo data through the triangulation method, so as to obtain the obstacle point cloud information, and can fuse the obstacle category and the visual coordinate points obtained by visual detection (for example, the accuracy of the positioning points of the ultrasonic sensor can be evaluated according to the type of the obstacle when fusing, and an evaluation function can be introduced to adjust the confidence and weight of the coordinate data of the two types of sensors), to obtain the two-dimensional coordinates of the obstacle in the vehicle coordinate system and the type of the obstacle.

[0033] The perception detection unit can also track the obstacle during the process of parking the vehicle in the target parking space (for example, the position where the obstacle appears can be located according to the relative motion relationship between the obstacle and the vehicle), fit the obstacle line segment, and correct the detection positioning error of the obstacle. The perception detection unit can also obtain the relative speed between the vehicle and the obstacle according to the coordinate changes of the obstacle for a continuous preset number of times and the vehicle speed information of the vehicle, continuously record the coordinate position of the obstacle, and determine whether the detected obstacle is the same obstacle through the change of the coordinate position of the obstacle at the current time and the coordinate position of the obstacle at the previous time. In addition, the perception detection unit can also estimate the position of the obstacle at the next time according to the discrete coordinate points of the obstacle obtained by continuous recording, and can constantly correct the deviation between the actual measured position information of the obstacle and the theoretical position information of the obstacle through the Kalman filtering method, and improve the accuracy and confidence of the detection of the obstacle through the compensation function.

[0034] Exemplarily, the position information of the charging pile corresponding to the target parking space can be accurately detected through the above process, and the calibration of the position information of the charging pile can be obtained in combination with the image data captured each time, and the installation position of the charging gun provided on the charging pile corresponding to the target parking space, the current position of the charging gun, and the length of the charging gun can be obtained based on the calibration. The parking space information can be integrated into structured data and delivered to the downstream scene decision unit for use.

[0035] The scene decision unit can receive the parking space information delivered by the perception detection unit, and determine the parking scene according to the parking space information. Exemplarily, the charging pile behind the target parking space is occupied by the vehicle of the adjacent parking space, or the charging gun corresponding to the target parking space is in an abnormal state (e.g., the charging gun is not placed at the installation position). The scene decision unit can output prompt information according to the parking space information obtained from the perception detection unit, and the prompt information can be used to indicate that the current parking space is not suitable, and can include information recommending the user to select a normal chargeable parking space other than the target parking space.

[0036] The scene decision unit can determine the three-element vector data (position and attitude) of the vehicle parking in the parking space to be parked in according to the installation position of the charging port of the vehicle, the installation position of the charging gun corresponding to the parking space to be parked in and the visible length of the charging gun obtained from the perception detection unit, when the vehicle is limited by factors such as the parking space and needs to park in the parking space to be parked in. The position includes (x, y) values of the vehicle in the vehicle coordinate system, and the attitude includes the heading angle yaw of the vehicle. The scene decision unit can also send the three-element vector data to the planning control unit to complete path planning and vehicle control waypoint tracking, etc.

[0037] The scene decision unit can obtain sensor data detected by the perception detection unit in real time during the parking process of the vehicle, and can adjust the parking position of the vehicle (e.g., no longer strictly according to the center parking mode, and close to the charging pile side) according to the installation position of the charging gun on the charging pile corresponding to the parking space and the length of the charging gun in the sensor data, to ensure that the charging gun can be normally connected with the vehicle.

[0038] During the adjustment of the parking position of the vehicle, the vehicle can make adaptive decision adjustment for the longitudinal and lateral positions, or can adjust the heading angle of the vehicle when the parking attitude itself is not strictly required, to meet the charging connection between the charging gun and the vehicle. Exemplarily, please refer to Figure 6 and Figure 7 , Figure 6 and Figure 7Schematic diagrams of vehicle parking provided by an example of the present application are shown respectively. Among them, the scene decision unit adjusts the heading angle of the vehicle to Figure 6 In the case that the distance between the position of the charging port 41 of the host vehicle and the installation position of the charging gun corresponding to the target parking space 40 is less than the length of the connecting line 42 of the charging gun, and the vehicle body of the host vehicle is within the area of the target parking space 40, and Figure 7 In the case that the distance between the position of the charging port 51 of the host vehicle and the installation position of the charging gun corresponding to the target parking space 50 is less than the length of the connecting line 52 of the charging gun, and the vehicle body of the host vehicle is within the area of the target parking space 50, thereby ensuring the charging connection of the charging gun and the host vehicle.

[0039] It can be understood that in the embodiment, the parking position and attitude can be intelligently adjusted in combination with the length of the charging gun, the installation position of the charging gun, the position of the charging port of the host vehicle, and the convenience of user charging. Compared with only considering the position of the charging pile itself, the length of the available line of the charging gun can be combined to more accurately judge the distance requirement of the actual charging connection, and the lateral and longitudinal positions of the parking can be adaptively adjusted, so that the charging port and the charging gun are more convenient to connect. In addition, when the space is limited, the lateral and longitudinal positions have reached the upper limit of adjustment, the parking attitude can be automatically adjusted in the allowable range of the vehicle heading angle offset to minimize the required distance of the connection as much as possible, to achieve more convenient charging, improve the rationality of the vehicle parking position, and improve the convenience of the vehicle charging.

[0040] In the embodiment, on the basis of the existing information such as whether the parking space has a charging pile, the position of the charging pile, and the installation position of the charging port of the host vehicle, the intelligent decision of the head parking or the tail parking and the end position of the parking, the position of the charging gun and the length of the charging gun line are introduced as the consideration factors of the end position decision, which are used to supplement the unreasonable end position attitude caused by the difference of the length of the charging gun line after the automatic parking caused by only considering the position of the charging pile itself, optimize the accuracy of the end position decision and the user satisfaction in this scenario, and improve the user experience.

[0041] The parking control method provided by an embodiment of the present application obtains the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle, and controls the vehicle to park at the target position with a target pose according to the installation position, the length of the charging gun, and the position of the charging port, where the distance between the position of the charging port of the vehicle and the installation position is less than the length of the charging gun, and the vehicle body is within the area of the target parking space when the vehicle parks at the target position with the target pose. Therefore, the position and pose of parking are controlled in combination with the position of the charging port of the vehicle, the installation position of the charging gun on the charging pile corresponding to the parking space, and the length of the charging gun, the problem of charging failure caused by the fact that the vehicle cannot normally use the charging gun to connect the charging port of the vehicle after the vehicle is automatically parked in the parking space due to the relatively short length of the charging gun is effectively avoided, the rationality of the parking position of the vehicle is improved, and the convenience of charging of the vehicle is improved.

[0042] Referring to Figure 8 , Figure 8 A flowchart of a parking control method provided by an embodiment of the present application is shown. The method is applied to the electronic device described above, and will be described in detail below with reference to the flowchart shown in Figure 8 The parking control method can specifically include the following steps. Step S210: In response to a selection operation for a target parking space, obtain parking space information corresponding to the target parking space.

[0043] In some embodiments, the vehicle can obtain the parking space information corresponding to the target parking space in response to a selection operation for the target parking space. The selection operation for the target parking space can be input by the user when the vehicle automatic parking function is triggered. The vehicle can be preconfigured with a target parking space, and the operation of triggering the vehicle automatic parking function can be determined as the selection operation for the target parking space. When the vehicle is triggered to automatically park, the vehicle can generate and display a parking space bird's eye view according to the current parking range, and can obtain the selection operation for the target parking space input by the user based on the parking space bird's eye view.

[0044] The parking space bird's eye view can be obtained by the vehicle from the associated cloud or electronic device according to the current position of the vehicle, or can be generated by data collected by the ultrasonic radar, visual camera sensor, laser radar, or the like installed on the vehicle. The parking space bird's eye view can include charging pile parking spaces and ordinary parking spaces, which are not limited here.

[0045] In some embodiments, the host vehicle can determine the target parking space in response to the selection operation for the target parking space, and can obtain the parking space information corresponding to the target parking space. The parking space information corresponding to the target parking space can include the position information of the target parking space, the obstacle information in the area of the target parking space, the obstacle in the preset range outside the area of the target parking space, etc. The obstacle can include a vehicle, a charging pile, and other objects, which are not limited herein.

[0046] In step S220, if the parking space information meets the preset condition, the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the host vehicle are obtained.

[0047] In some embodiments, after the host vehicle obtains the parking space information corresponding to the target parking space, the host vehicle can compare the parking space information with the preset condition to determine whether the parking space information meets the preset condition, and can determine whether to park the host vehicle in the target parking space according to the comparison result.

[0048] As an implementable manner, if the comparison result shows that the parking space information meets the preset condition, it can be determined that the host vehicle is parked in the target parking space, and the step of obtaining the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the host vehicle can be performed.

[0049] The preset condition can include that the target parking space is an idle parking space, and / or the target parking space is an idle parking space with an unused charging gun, and / or the parking area corresponding to the target parking space is greater than a preset size, and / or there is no obstacle in the preset range outside the area of the target parking space, etc., which are not limited herein. The preset size can be set by the user or obtained from third-party experimental data. The preset range can be set by the user or obtained from third-party experimental data, which are not limited herein. The obstacle can include objects other than charging piles, which are not limited herein.

[0050] For example, in the context of short-term parking of the host vehicle, the preset condition can include that the target parking space is an idle parking space. Based on this, the host vehicle can determine to park in the target parking space if the host vehicle information of the target parking space meets the preset condition.

[0051] For example, in the context of parking for charging of the host vehicle, the preset condition can include that the target parking space is an idle parking space with an unused charging gun. Based on this, the host vehicle can determine to park in the target parking space if the host vehicle information of the target parking space meets the preset condition.

[0052] Exemplarily, in a situation where the vehicle has a large size, the preset condition can include that the parking area corresponding to the target parking space is greater than a preset size. Based on this, the vehicle can determine to park in the target parking space in a case where the vehicle information of the target parking space meets the preset condition.

[0053] Exemplarily, in a situation where the vehicle has a large size, the preset condition can include that the parking area corresponding to the target parking space is greater than a preset size. Based on this, the vehicle can determine to park in the target parking space in a case where the vehicle information of the target parking space meets the preset condition.

[0054] Step S230: If the parking space information does not meet the preset condition, obtaining the current position of the vehicle.

[0055] In some embodiments, the vehicle can determine whether the target parking space needs to be updated according to the comparison result of the parking space information corresponding to the target parking space and the preset condition, so as to improve the rationality and safety of vehicle parking. Exemplarily, if it is determined that the parking space information corresponding to the target parking space does not meet the preset condition, it can be determined that the target parking space needs to be updated, and the current position of the vehicle can be obtained, and the target parking space can be updated according to the current position of the vehicle.

[0056] As an implementable manner, if it is determined according to the parking space information corresponding to the target parking space that there is no charging pile in the preset range of the target parking space, it can be determined that the parking space information does not meet the preset condition, so as to ensure that the vehicle is parked for charging.

[0057] As an implementable manner, if it is determined according to the parking space information of the target parking space that there is a charging pile in the preset range of the target parking space, and the charging gun on the charging pile is connected to other vehicles except the vehicle, it can be determined that the charging gun is occupied, so as to determine that the parking space information does not meet the preset condition, so as to ensure that the vehicle is parked for charging. Wherein, the connection of the charging gun on the charging pile to other vehicles except the vehicle can represent that the vehicle in the adjacent parking space occupies the charging pile of the target parking space.

[0058] As an implementable manner, if it is determined according to the parking space information of the target parking space that there is an obstacle in the target parking space, it can be determined that the target parking space is a non-idle parking space, so as to determine that the parking space information does not meet the preset condition, so as to ensure the safety of vehicle parking.

[0059] As an implementable manner, if it is determined according to the parking space information of the target parking space that the area of the target parking space is smaller than a preset size, it can be determined that the target parking space is too small, so as to determine that the parking space information does not meet the preset condition, so as to ensure the safety of vehicle parking.

[0060] In some embodiments, the host vehicle can output information indicating that the target parking space does not meet the preset condition, and the user can input a parking space selection operation based on the information to update the target parking space. Alternatively, the host vehicle can obtain the current position of the host vehicle if no parking space selection operation is input by the user within a preset time period after outputting the information, and update the target parking space based on the current position.

[0061] Step S240: After updating the target parking space based on the current position, the host vehicle obtains the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the host vehicle.

[0062] In some embodiments, the host vehicle can obtain the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the host vehicle after updating the target parking space based on the current position.

[0063] In some embodiments, the process of updating the target parking space based on the current position can include determining at least one idle parking space from the parking range corresponding to the current position, determining a recommended parking space from the at least one idle parking space, and updating the target parking space to the recommended parking space. The distance between the recommended parking space and the current position satisfies the distance condition, and the recommended parking space has an unused charging pile. Thus, the safety of the vehicle parking is ensured, and the vehicle can be normally charged.

[0064] The parking range corresponding to the current position can be set by the user independently or obtained from third-party experimental data, which is not limited herein. For example, the parking range corresponding to the current position can be the range of the nearest parking lot, or a region with a preset distance as the radius centered at the current position.

[0065] The distance between the recommended parking space and the current position satisfying the distance condition can include that the distance between the recommended parking space and the current position is less than a distance threshold, which can be set by the user independently or obtained from third-party experimental data, which is not limited herein. In some embodiments, the number of recommended parking spaces can be one or more. The recommended parking space can include an idle parking space with an idle charging pile. The recommended parking space can also include an idle parking space with an idle charging pile and an area greater than a preset size.

[0066] In the method, the vehicle can generate a selection interface including the recommended parking space after obtaining the recommended parking space, obtain a selection operation input by a user for the target parking space based on the selection interface, and determine the target parking space from the recommended parking space. Optionally, if the vehicle does not receive the selection operation input by the user within a preset time period after displaying the selection interface, the vehicle can determine any one of the recommended parking spaces as the target parking space. For example, the vehicle can determine the recommended parking space closest to the current position as the target parking space.

[0067] In step S250, the target position and the target pose are obtained according to the installation position, the length of the charging gun, and the position of the charging port.

[0068] In some embodiments, after obtaining the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle, the vehicle can obtain the target position and the target pose according to the installation position, the length of the charging gun, and the position of the charging port. The target position can include a two-dimensional coordinate of the rear axle of the vehicle in a vehicle coordinate system (with the center of the rear axle of the vehicle as the coordinate origin), and the target position can include a heading angle of the vehicle. When the vehicle is parked at the target position in the target pose, the distance between the position of the charging port of the vehicle and the installation position is less than the length of the charging gun corresponding to the target position, and the vehicle body is in the area of the target parking space.

[0069] Optionally, the vehicle can determine a parking mode of the vehicle into the target parking space according to the target position, such as parking with the front end or parking with the rear end. The vehicle can also adjust the lateral position, the longitudinal position, and the heading angle of the vehicle into the target parking space according to the target pose, so that the vehicle can be connected to the charging gun even when the length of the charging gun is relatively short or the rear overhang of the vehicle is relatively long, thereby improving the convenience of the user for charging after parking.

[0070] In step S260, a driving path of the vehicle is planned according to the current position of the vehicle, the target position, and the target pose.

[0071] In some embodiments, after determining the target position and the target pose, the vehicle can obtain the current position of the vehicle, and can plan a driving path of the vehicle according to the current position of the vehicle, the target position, and the target pose. The vehicle can determine a target endpoint according to the target position and the target pose, and can determine a driving path of the vehicle from the current position to the target endpoint in a grid space. The path of the vehicle from the current position to the target endpoint can include one or more paths, which can be the shortest path of the vehicle from the current position to the target endpoint, the path with the least gear shifting of the vehicle from the current position to the target endpoint, or the path with the shortest time consumption of the vehicle from the current position to the target endpoint, without limitation.

[0072] Step S270: Control the vehicle to park based on the driving path.

[0073] In some implementations, after determining the driving path to the target parking space, the vehicle can control its parking based on that driving path. Specifically, during the parking process, the vehicle can continuously detect obstacle information along the driving path, and if an obstacle is detected, it can stop, update the driving path based on its current position, the target position, and the target pose, and continue parking based on the updated driving path to ensure parking safety.

[0074] As one feasible approach, during the parking process controlled by the vehicle based on the driving path, the driving path can be divided into multiple sub-paths based on the gear information corresponding to the driving path. The vehicle can then be controlled to drive in segments according to the order of these sub-paths. The gear information can include at least one of forward gear and reverse gear.

[0075] In the process of splitting the driving path based on the gear information corresponding to the driving path, the vehicle can divide the driving path into multiple sub-paths according to forward and reverse gears. These sub-paths can be sorted and sent sequentially to the vehicle's control unit. After receiving the sub-path, the control unit can control the vehicle to drive according to the sub-path. If an obstacle is detected in the sub-path during driving, the vehicle can be stopped, and a parking driving path can be replanned based on the vehicle's current position. Then, the vehicle can continue to be parked to the target destination in segments based on the replanned driving path.

[0076] For example, please refer to [the document / reference]. Figure 5 In response to a selection of a target parking space, the vehicle can obtain the corresponding parking space information through a perception and detection unit. For example, the vehicle can use the perception and detection unit, based on multiple sensors such as a visual camera and ultrasonic radar, to detect and identify whether a charging pile exists behind the parking space. If a charging pile exists, the parking space information can be determined to meet preset conditions. Furthermore, the vehicle can use the perception and detection unit to identify the installation position of the charging gun on the charging pile, as well as capture the current charging gun cable length and usage status. During the subsequent parking process, the ultrasonic radar of the perception and detection unit continuously monitors the distance between the vehicle and the charging pile behind the target parking space to prevent collisions and other problems.

[0077] In addition, after the sensing detection unit obtains the parking space information of the target parking space and the environment information at the current position of the vehicle, the parking space information and the environment information can be converted into structured data and input into the scene decision unit. The scene decision unit analyzes and makes decisions based on the structured data to determine whether the parking space information meets the preset conditions, whether to perform the operation of updating the target parking space, and the maximum connection distance supported by the charging gun under the current state to connect the charging port of the vehicle. If it is determined that the charging pile behind the target parking space is in a normal state, i.e., the charging gun is not occupied by other vehicles, the vehicle can be directly parked in the target parking space. Otherwise, the user can be recommended to park in the remaining parking spaces, and the updated target parking space can be obtained. During parking in the target parking space, the sensing detection unit can obtain the position information of the charging pile, the available extension distance of the charging gun line, and the installation position of the charging port of the vehicle based on visual and ultrasonic detection. The scene decision unit determines the target position and target pose of parking under the premise that no rear obstacle is collided during parking, so that the state of the vehicle parked as much as possible meets the connection distance required for charging. Finally, the planning control unit can determine the target position and target pose based on the sensing detection unit, and the current position of the vehicle detected by the sensing detection unit, and perform path planning and parking control of the vehicle, so that the vehicle is finally parked at a reasonable position that is convenient for the user to charge, thereby improving the user experience.

[0078] The scene decision unit can determine whether the parking space is a normal parking space or a charging pile parking space based on the sensed parking space information and the environment information of the vehicle, and then use different decision strategies. For example, the scene decision unit can determine whether to recommend the user to park in the charging pile parking space based on the installation position and use state of the charging gun on the charging pile. After the user selects to park in the parking space, the scene decision unit can determine the target position and target pose of parking based on the installation position of the charging gun, the position of the charging port of the vehicle, the length of the charging gun line, the position of the charging pile, and the premise of meeting the safety distance, so as to facilitate the user to connect the charging gun and the charging port after parking, and avoid the problem of insufficient connection distance requiring re-parking.

[0079] The planning control unit can complete path planning and control the vehicle to automatically park according to the three-element vector data (parking target point) containing (x, y, yaw) sent by the scene decision unit. In the path planning process of the planning control unit, the current position of the vehicle can be taken as the starting point, and the parking-in target point can be taken as the terminal point to complete path planning. The planned path can be sent to the control unit included in the vehicle, and the control unit can control the vehicle to park into the parking space and reach the target point. Thus, the vehicle surrounding environment information can be acquired by the perception detection unit, and after the environment information is acquired, the scene decision unit can identify the parking space scene, and intelligently decide whether to recommend the target parking space to the user for parking, and determine the parking position and parking attitude after the vehicle parks, and the like, in combination with the installation position of the charging gun on the charging pile, the length of the charging gun, and the use state of the charging gun, and the like. After the terminal position and attitude are determined, the planning control unit can plan the path and drive the vehicle to reach the target position. Through the cooperation of the above units, the vehicle can be automatically parked into the charging pile parking space, and after the parking is completed, the user can conveniently connect the charging gun to the charging port of the vehicle, avoiding the problem that the length of the charging gun does not satisfy the distance between the installation position of the charging gun and the charging port of the vehicle, and the waste of parking resources caused by the second parking, and improving the user experience. Moreover, for the scene of random use of the charging gun, the remaining more reasonable target parking space that is not occupied can be recommended to the user according to the use state of the charging gun, and the user satisfaction is improved.

[0080] In the charging pile parking space scene, the embodiment increases the detection of the information of the charging gun on the charging pile, and in the final decision, in addition to considering the position of the charging pile, the installation position of the charging gun, the length of the charging gun, and whether the charging gun is occupied or not, and the like, the finally parked parking space, the position and attitude of the parked parking space are adaptively adjusted, so that the user can more conveniently and quickly use the charging gun for charging. When the length of the charging gun is relatively short, the parking attitude is adaptively adjusted under the premise of ensuring safety and no collision, the distance required for connecting the charging port of the vehicle to the charging gun is shortened as much as possible, the user can successfully charge, and there is no need to adjust the position for the second time to complete the charging. Moreover, when the parking space is recommended, the information such as the position and length of the charging gun is detected, it is judged whether the charging gun on the charging pile corresponding to the parking space is occupied or falls off and is damaged, and other more optimal parking spaces are recommended to the user in the case that the user-selected parking space is abnormal, the intelligence of the vehicle parking is improved, the user is facilitated to perform subsequent charging operation, and the user experience is improved.

[0081] Compared with the prior art, the parking control method provided by the embodiment of the application has the advantages that Figure 1In the parking control method shown, the embodiment can also, before acquiring the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle, acquire the parking space information corresponding to the target parking space in response to the selection operation for the target parking space; if the parking space information meets the preset condition, execute the step of acquiring the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle, so that in the case where the user selects a parking space, it is determined whether the parking space meets the preset condition, and in the case where it is determined that the user-selected parking space meets the preset condition, the position and pose of parking are controlled in combination with the charging port position of the vehicle, the installation position of the charging gun on the charging pile corresponding to the parking space, and the length of the charging gun, thereby effectively avoiding the charging failure problem caused by the relatively short length of the charging gun after the vehicle is automatically parked in the parking space, avoiding the waste of the vehicle caused by directly parking in the unreasonable parking space selected by the user, and improving the user experience.

[0082] Meanwhile, the embodiment can also acquire the current position of the vehicle if the parking space information does not meet the preset condition; after updating the target parking space according to the current position, execute the step of acquiring the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle, so as to update the unreasonable parking position selected by the user, thereby improving the safety and rationality of parking.

[0083] In addition, the embodiment can also acquire the target position and the target pose according to the installation position, the length, and the position of the charging port; plan the driving path of the vehicle according to the current position of the vehicle, the target position, and the target pose; and control the vehicle to park based on the driving path, so as to plan the parking path in combination with the current position of the vehicle, thereby improving the efficiency of parking.

[0084] Please refer to Figure 9 , Figure 9 A module block diagram of a parking control device provided by an embodiment of the application is shown. The parking control device 200 is applied to the electronic device described above, and the following will be described in detail with respect to the flow shown. Figure 9 The parking control device 200 includes an environment information acquisition module 210 and a parking module 220, wherein: The environment information acquisition module 210 is configured to acquire the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle.

[0085] The parking module 220 is configured to control the vehicle to park at a target position with a target pose, according to the installation position, the length of the charging cable, and the position of the charging port. When the vehicle parks at the target position with the target pose, the distance between the position of the charging port of the vehicle and the installation position is less than the length of the charging cable, and the body of the vehicle is within the area of the target parking space.

[0086] Further, the parking module 220 can include a target position and target pose acquisition unit, a path planning unit, and a parking subunit, wherein: The target position and target pose acquisition unit is configured to acquire the target position and the target pose according to the installation position, the length of the charging cable, and the position of the charging port.

[0087] The path planning unit is configured to plan a driving path of the vehicle according to the current position of the vehicle, the target position, and the target pose.

[0088] The parking subunit is configured to control the vehicle to park based on the driving path.

[0089] Further, the parking subunit can include a path splitting unit and a segmented control unit, wherein: The path splitting unit is configured to split the driving path based on gear information corresponding to the driving path to obtain a plurality of segmented sub-paths, wherein the gear information includes at least one of a forward gear and a reverse gear.

[0090] The segmented control unit is configured to control the vehicle to drive based on the plurality of segmented sub-paths in the order of the plurality of segmented sub-paths.

[0091] Further, before acquiring the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle, the parking control device 200 can further include a parking space information acquisition unit and an environment information acquisition subunit, wherein: The parking space information acquisition unit is configured to acquire parking space information corresponding to the target parking space in response to a selection operation for the target parking space.

[0092] The environment information acquisition subunit is configured to perform the step of acquiring the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle if the parking space information meets a preset condition.

[0093] Further, the parking control device 200 can further include a current position acquisition unit and a target parking space updating unit, wherein: The second judgment unit is configured to acquire the current position of the vehicle if the parking space information does not meet the preset condition.

[0094] The target parking space updating unit is configured to, after updating the target parking space according to the current position, execute the step of acquiring the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle.

[0095] Further, the target parking space updating unit can include an idle parking space determining unit and a recommended parking space determining unit, wherein: The idle parking space determining unit is configured to determine at least one idle parking space from the parking range corresponding to the current position.

[0096] The recommended parking space determining unit is configured to determine a recommended parking space from the at least one idle parking space, and update the target parking space to the recommended parking space, wherein the distance between the recommended parking space and the current position satisfies a distance condition, and the recommended parking space has an unused charging pile.

[0097] Further, before the step of acquiring the current position of the vehicle if the parking space information does not satisfy the preset condition, the parking control device 200 can further include a first judgment unit, a second judgment unit, a third judgment unit, and a fourth judgment unit, wherein: The first judgment unit is configured to, if it is determined according to the parking space information that there is no charging pile in the preset range of the target parking space, determine that the parking space information does not satisfy the preset condition.

[0098] The second judgment unit is configured to, if it is determined according to the parking space information that there is a charging pile in the preset range of the target parking space, and the charging gun on the charging pile is connected to another vehicle other than the vehicle, determine that the parking space information does not satisfy the preset condition.

[0099] The third judgment unit is configured to, if it is determined according to the parking space information that there is an obstacle in the target parking space, determine that the parking space information does not satisfy the preset condition.

[0100] The fourth judgment unit is configured to, if it is determined according to the parking space information that the area of the target parking space is less than a preset size, determine that the parking space information does not satisfy the preset condition.

[0101] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0102] In several embodiments provided in the present application, the coupling between the modules can be electrical, mechanical or other forms of coupling.

[0103] In addition, each of the functional modules in the embodiments of the present application can be integrated in one processing module, or each of the modules can be physically present alone, or two or more modules can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module.

[0104] Referring to Figure 10 which shows a structural block diagram of an electronic device provided by an embodiment of the present application. The electronic device 100 can be a vehicle, a vehicle-mounted terminal, a server, a computer, or the like, which has processing capability. The electronic device 100 in the present application can include one or more of the following components: a processor 110, a memory 120, and one or more application programs, wherein the one or more application programs can be stored in the memory 120 and configured to be executed by the one or more processors 110, and the one or more programs are configured to perform the method as described in the foregoing method embodiments.

[0105] The processor 110 can include one or more processing cores. The processor 110 connects various parts in the vehicle 100 by various interfaces and lines, performs various functions of the vehicle 100 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 120, and calling data stored in the memory 120. Alternatively, the processor 110 can be realized in the form of at least one of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 110 can integrate a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 110, but can be realized by a separate communication chip.

[0106] The memory 120 can include a Random Access Memory (RAM) and can also include a Read-Only Memory (ROM). The memory 120 can be used to store instructions, programs, codes, code sets, or instruction sets. The memory 120 can include a program storage area and a data storage area, where the program storage area can store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing each of the method embodiments described below, and the like. The data storage area can also store data created by the electronic device 100 in use (such as a phonebook, audio / video data, chat record data), and the like.

[0107] In this embodiment, a computer readable medium stores program codes, which can be invoked by a processor to execute the methods described in the above method embodiments.

[0108] The computer readable storage medium can be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or any suitable combination of the foregoing. The computer readable storage medium is non-transitory. The computer readable storage medium has a storage space for storing program codes for executing any of the method steps described above. These program codes can be read from or written to one or more computer program products. The program codes can be compressed in an appropriate form, for example.

[0109] In this application, multiple refers to two or more.

[0110] In this application, unless specifically limited otherwise, the terms "mounting", "connected", "connecting" should be understood broadly, for example, can be fixedly connected, can also be detachably connected, or integrally connected; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0111] The terms "first", "second", "third", "fourth" and the like (if any) in this application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0112] The term "and / or", within the context of the present application, is used to associate associated objects, and means that three relationships can exist, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In addition, the character " / " within the present application generally means that the associated objects before and after are in an "or" relationship.

[0113] If not specifically stated, all steps in the present application can be performed in sequence or randomly. For example, the method comprises steps A and B, which means that the method can comprise steps A and B performed in sequence, or steps B and A performed in sequence. For example, the method can further comprise step C, which means that step C can be added to the method in any order, for example, the method can comprise steps A, B and C, or steps A, C and B, or steps C, A and B, etc.

[0114] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A parking control method characterized by, The method comprises: obtaining the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle; controlling the vehicle to park at the target position in a target pose according to the installation position, the length of the charging gun, and the position of the charging port, wherein the distance between the position of the charging port of the vehicle and the installation position is less than the length of the charging gun when the vehicle parks at the target position in the target pose, and the vehicle body is within the area of the target parking space.

2. The method of claim 1, wherein, The method comprises: obtaining the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle; controlling the vehicle to park at the target position in a target pose according to the installation position, the length of the charging gun, and the position of the charging port, wherein the distance between the position of the charging port of the vehicle and the installation position is less than the length of the charging gun when the vehicle parks at the target position in the target pose, and the vehicle body is within the area of the target parking space. The method comprises:

3. The method of claim 2, wherein, obtaining the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle; controlling the vehicle to park at the target position in a target pose according to the installation position, the length of the charging gun, and the position of the charging port, wherein the distance between the position of the charging port of the vehicle and the installation position is less than the length of the charging gun when the vehicle parks at the target position in the target pose, and the vehicle body is within the area of the target parking space. The method comprises:

4. The method according to any one of claims 1 to 3, characterized in that, obtaining the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle; controlling the vehicle to park at the target position in a target pose according to the installation position, the length of the charging gun, and the position of the charging port, wherein the distance between the position of the charging port of the vehicle and the installation position is less than the length of the charging gun when the vehicle parks at the target position in the target pose, and the vehicle body is within the area of the target parking space. The method comprises:

5. The method of claim 4, wherein, obtaining the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle; controlling the vehicle to park at the target position in a target pose according to the installation position, the length of the charging gun, and the position of the charging port, wherein the distance between the position of the charging port of the vehicle and the installation position is less than the length of the charging gun when the vehicle parks at the target position in the target pose, and the vehicle body is within the area of the target parking space. The method comprises:

6. The method of claim 5, wherein, obtaining the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle; controlling the vehicle to park at the target position in a target pose according to the installation position, the length of the charging gun, and the position of the charging port, wherein the distance between the position of the charging port of the vehicle and the installation position is less than the length of the charging gun when the vehicle parks at the target position in the target pose, and the vehicle body is within the area of the target parking space. The method comprises:

7. The method of claim 5, wherein, obtaining the installation position of the charging gun on the charging pile corresponding to the target parking space, the length of the charging gun, and the position of the charging port of the vehicle; controlling the vehicle to park at the target position in a target pose according to the installation position, the length of the charging gun, and the position of the charging port, wherein the distance between the position of the charging port of the vehicle and the installation position is less than the length of the charging gun when the vehicle parks at the target position in the target pose, and the vehicle body is within the area of the target parking space. ​ If it is determined according to the parking space information that there is an obstacle in the target parking space, it is determined that the parking space information does not satisfy a preset condition; and / or If it is determined according to the parking space information that the area of the target parking space is less than a preset size, it is determined that the parking space information does not satisfy the preset condition.

8. A parking control device, characterized by comprising: The device comprises: an environmental information acquisition module, configured to acquire an installation position of a charging gun on a charging pile corresponding to a target parking space, a wire length of the charging gun, and a position of a charging port of a host vehicle; a parking module, configured to control the host vehicle to park at a target position in a target pose according to the installation position, the wire length, and the position of the charging port, wherein a distance between the position of the charging port of the host vehicle and the installation position is less than the wire length, and a vehicle body of the host vehicle is within an area of the target parking space when the host vehicle parks at the target position in the target pose.

9. An electronic device, comprising: comprise: one or more processors; a memory; one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the method according to any one of claims 1-7.

10. A computer readable storage medium, characterized in that, The computer readable storage medium stores program code, and the program code can be called and executed by the processor to execute the method according to any one of claims 1-7.

Images