Parking control method and device for autonomous vehicles

Abstract

This invention discloses a parking control method and apparatus for autonomous vehicles. The method includes: when it is determined that the autonomous vehicle is carrying passengers and is heading towards a destination, detecting the surrounding environment information of the autonomous vehicle; when it is determined that there is congestion on the current road, obtaining the remaining distance between the vehicle and the destination; when it is determined that the remaining distance is within reach, obtaining the current position of the vehicle; when the autonomous vehicle is in the two rightmost lanes of the road, obtaining the current speed of the vehicle; when the current speed is zero and remains so for a predetermined duration, initiating a parking confirmation message; and upon receiving a parking confirmation feedback message, performing a parking operation at the current position. This invention solves the technical problem in related technologies where autonomous vehicles, when facing traffic congestion around the destination, cannot flexibly allow passengers to disembark at a location closer to the destination, resulting in a poor passenger experience and increased travel time.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and more specifically, to a parking control method and apparatus for an autonomous vehicle. Background Technology

[0002] In daily operations, especially in densely populated areas and during peak traffic hours, robotaxis face a significant challenge: how to efficiently and safely transport passengers to their destinations in congested traffic. Traditionally, robotaxis follow strict route planning and safety rules, and once congestion occurs, they must wait until they can easily reach their pre-set destination before stopping. This not only increases passenger waiting time and reduces travel efficiency but also impacts the overall passenger experience to some extent.

[0003] In driver-operated taxi services, drivers flexibly adjust their parking strategies based on real-time traffic conditions and passenger preferences. For example, when approaching the destination but encountering traffic congestion, the driver may ask passengers if they would like to get out early and walk to the destination, saving time for both parties and avoiding unnecessary waiting. This practice has shown significant advantages in improving travel efficiency and passenger satisfaction.

[0004] However, for robotaxis, the lack of direct human-machine interaction, especially in congested areas, prevents effective communication and decision-making between the vehicle and passengers. This means that even under safe and reasonable conditions, such as when pedestrians are within sight and there are no obstacles around the vehicle, a "Stop Here Will Do" strategy cannot be adopted. This not only reflects a limitation of existing technology but also neglects passenger needs and experience.

[0005] There is currently no effective solution to the above problems. Summary of the Invention

[0006] This invention provides a parking control method and apparatus for autonomous vehicles, which at least solves the technical problem in the related art that autonomous vehicles cannot flexibly allow passengers to get off at a location closer to the destination when facing traffic congestion around the destination, resulting in poor passenger experience and increased time consumption.

[0007] According to one aspect of the present invention, a parking control method for an autonomous vehicle is provided, comprising: when it is determined that the autonomous vehicle is currently in a passenger-carrying state and is heading to a destination, detecting surrounding environmental information of the autonomous vehicle; when it is determined, based on the surrounding environmental information, that there is congestion on the road where the autonomous vehicle is currently located, obtaining the remaining distance between the autonomous vehicle and the destination; when it is determined that the remaining distance is within an accessible range, obtaining the current position of the autonomous vehicle, wherein the accessible range is a range set based on the destination; when the current position indicates that the autonomous vehicle is currently in the two right lanes of the road, obtaining a first current speed of the autonomous vehicle; when the first current speed is zero and remains so for a predetermined duration, initiating a first parking confirmation prompt message, wherein the first parking confirmation prompt message is used to prompt the autonomous vehicle to perform a parking operation at the current position; and after receiving a first parking confirmation feedback message based on the first parking confirmation prompt message, performing the parking operation at the current position.

[0008] Optionally, when it is determined that the autonomous vehicle is currently in a passenger-carrying state and is heading to its destination, the surrounding environmental information of the autonomous vehicle is detected, including: when the autonomous vehicle enters a parking state, obtaining the order status of the autonomous vehicle; analyzing the order status; and if the analysis result indicates that the autonomous vehicle is in the passenger-carrying state, and if it is determined based on the trip information of the autonomous vehicle that the autonomous vehicle is heading to its destination, triggering the information collection component on the autonomous vehicle to collect the surrounding environmental information of the autonomous vehicle, so as to perform information detection on the autonomous vehicle.

[0009] Optionally, before determining that the remaining distance is within the reachable range, the parking control method further includes: determining a first distance on the route between the autonomous vehicle and the destination that is ahead of the destination and a second distance on the route that is behind the destination; and determining the distance range corresponding to the first distance and the second distance as the reachable range.

[0010] Optionally, after receiving a first parking confirmation feedback message based on the first parking confirmation prompt message, performing the parking operation at the current location includes: after receiving the first parking confirmation feedback message based on the first parking confirmation prompt message, sending a second parking confirmation prompt message again; and after receiving a second parking confirmation feedback message based on the second parking confirmation prompt message, performing the parking operation at the current location.

[0011] Optionally, after receiving the second confirmed parking feedback message based on the second parking confirmation prompt message, performing the parking operation at the current location includes: after receiving the second confirmed parking feedback message based on the second parking confirmation prompt message, obtaining the second current vehicle speed of the autonomous vehicle; and when it is determined that the second current vehicle speed is less than a preset vehicle speed, performing the parking operation at the current location.

[0012] Optionally, the parking control method further includes: after determining that the autonomous vehicle has successfully performed the parking operation, redirecting to the arrival page of the autonomous vehicle's display component to indicate arrival at the destination; generating a voice prompt message to indicate that the autonomous vehicle has successfully performed the parking operation; and generating and sending an order processing flow.

[0013] Optionally, initiating a first parking confirmation prompt message, or sending a second parking confirmation prompt message, includes: when the display component of the autonomous vehicle displays a vehicle model of the autonomous vehicle, displaying a parking confirmation control at a predetermined position on the vehicle model to initiate the first parking confirmation prompt message or the second parking confirmation prompt message; when the display component of the autonomous vehicle does not display a vehicle model of the autonomous vehicle, displaying the parking confirmation control on the function settings page of the display component to initiate the first parking confirmation prompt message or the second parking confirmation prompt message.

[0014] According to another aspect of the present invention, a parking control device for an autonomous vehicle is also provided, comprising: a first detection unit, configured to detect surrounding environmental information of the autonomous vehicle when it is determined that the autonomous vehicle is currently in a passenger-carrying state and is heading to a destination; a first acquisition unit, configured to acquire the remaining distance between the autonomous vehicle and the destination when it is determined, based on the surrounding environmental information, that the road where the autonomous vehicle is currently located is congested; a second acquisition unit, configured to acquire the current position of the autonomous vehicle when it is determined that the remaining distance is within an accessible range, wherein the accessible range is a range set based on the destination; a third acquisition unit, configured to acquire a first current speed of the autonomous vehicle when the current position indicates that the autonomous vehicle is currently in the two right lanes of the road; a first initiation unit, configured to initiate a first parking confirmation prompt message when the first current speed is zero for a predetermined duration, wherein the first parking confirmation prompt message is used to prompt the autonomous vehicle to perform a parking operation at the current position; and a first execution unit, configured to execute the parking operation at the current position after receiving a first parking confirmation feedback message based on the first parking confirmation prompt message.

[0015] Optionally, the first detection unit includes: a first acquisition module, configured to acquire the order status of the autonomous vehicle when the autonomous vehicle enters a parking state; and a first detection module, configured to analyze the order status, and if the analysis result indicates that the autonomous vehicle is in the passenger-carrying state, and if it is determined based on the trip information of the autonomous vehicle that the autonomous vehicle is heading to the destination, trigger the information collection component on the autonomous vehicle to collect the surrounding environmental information of the autonomous vehicle, so as to perform information detection on the autonomous vehicle.

[0016] Optionally, the first acquisition unit includes: a first determining module, configured to determine a first distance on the route between the autonomous vehicle and the destination from the front of the destination and a second distance on the route from the destination to the rear of the destination; and a second determining module, configured to determine the distance range corresponding to the first distance and the second distance as the reachable range.

[0017] Optionally, the first execution unit includes: a first sending module, configured to send a second parking confirmation prompt message again after receiving a first parking confirmation feedback message based on the first parking confirmation prompt message; and a first execution module, configured to perform the parking operation at the current location after receiving a second parking confirmation feedback message based on the second parking confirmation prompt message.

[0018] Optionally, the first execution module includes: an acquisition submodule, configured to acquire the second current speed of the autonomous vehicle after receiving the second confirmed parking feedback message based on the second parking confirmation prompt message; and an execution submodule, configured to perform the parking operation at the current position when it is determined that the second current speed is less than a preset speed.

[0019] Optionally, the parking control device further includes: a jump unit, configured to jump to the arrival page of the display component of the autonomous vehicle after determining that the autonomous vehicle has successfully performed the parking operation, to indicate that the destination has been reached; a prompt unit, configured to generate a voice prompt message to indicate that the autonomous vehicle has successfully performed the parking operation; and a sending unit, configured to generate and send an order processing flow.

[0020] Optionally, the first sending module includes: a first initiation submodule, configured to, when the display component of the autonomous vehicle displays a vehicle model of the autonomous vehicle, display a parking confirmation control at a predetermined position on the vehicle model to initiate a first parking confirmation prompt message or a second parking confirmation prompt message; and a second initiation submodule, configured to, when the display component of the autonomous vehicle does not display a vehicle model of the autonomous vehicle, display the parking confirmation control on the function settings page of the display component to initiate a first parking confirmation prompt message or a second parking confirmation prompt message.

[0021] According to one aspect of the present invention, an autonomous vehicle is provided, the autonomous vehicle using the parking control method for autonomous vehicles described in any one of the above embodiments.

[0022] According to one aspect of the present invention, a processor is provided for running a program, wherein the program executes the parking control method for an autonomous vehicle as described in any of the above embodiments.

[0023] According to one aspect of the present invention, a computer program product is provided, including computer instructions that, when executed by a processor, perform the parking control method for an autonomous vehicle as described above.

[0024] According to one aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program, when executed by a processor, performs the parking control method for an autonomous vehicle as described in any one of the above embodiments.

[0025] In this embodiment of the invention, when it is determined that the autonomous vehicle is currently carrying passengers and is heading to its destination, the surrounding environment information of the autonomous vehicle is detected; when it is determined that there is congestion on the road where the autonomous vehicle is currently located based on the surrounding environment information, the remaining distance between the autonomous vehicle and the destination is obtained; when it is determined that the remaining distance is within the reachable range, the current position of the autonomous vehicle is obtained, wherein the reachable range is a range set based on the destination; when the current position indicates that the autonomous vehicle is currently in the two right lanes of the road, the first current speed of the autonomous vehicle is obtained; when the first current speed is zero and continues for a predetermined duration, a first parking confirmation prompt message is initiated, wherein the first parking confirmation prompt message is used to prompt the autonomous vehicle to perform a parking operation at the current position; after receiving a first parking confirmation feedback message based on the first parking confirmation prompt message, a parking operation is performed at the current position. The above technical solution achieves the goal of allowing passengers to choose a safe and appropriate parking location in advance when the road is congested, significantly shortening passenger waiting time, improving passenger experience, increasing operational flexibility in congested environments, and ensuring passenger safety when deciding to end the trip early. This optimizes passenger experience, ensures safety, enhances system adaptability, reduces resource waste, and standardizes the process of parking early in congested environments. Furthermore, it solves the technical problem in related technologies where autonomous vehicles cannot flexibly allow passengers to disembark early at locations close to the destination when facing traffic congestion around the destination, resulting in poor passenger experience and increased travel time. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0027] Figure 1 This is a hardware structure block diagram of a mobile terminal for a parking control method for an autonomous vehicle according to an embodiment of the present invention.

[0028] Figure 2 This is a flowchart of a parking control method for an autonomous vehicle according to an embodiment of the present invention;

[0029] Figure 3 This is a flowchart of an optional parking control method for an autonomous vehicle according to an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram illustrating the interaction between in-vehicle human-machine interfaces according to an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the parking control device used to implement the aforementioned autonomous driving vehicle.

[0032] The above figures include the following reference numerals:

[0033] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0034] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0036] As described in the background section, in related technologies, autonomous vehicles cannot delete information about moving objects. When the vehicle returns to the same location, it may detour, leading to excessively long route planning and travel times, resulting in increased time and energy costs. Therefore, a new robotaxi parking control method is urgently needed, which can increase flexibility, optimize passenger experience, and improve overall operational efficiency while ensuring passenger safety. This technical solution aims to address the above problems by proposing a mechanism that allows passengers to initiate a "stop here" command under specific conditions during traffic congestion, thus enabling timely parking and order completion. To achieve the above goals, existing robotaxi parking strategies need further refinement and improvement, introducing a system capable of intelligently determining parking timing. Current solutions mostly rely on fixed parking rules and route planning, lacking the ability to dynamically adjust based on real-time traffic conditions and passenger needs. Furthermore, existing in-vehicle human-machine interface (HMI) designs do not consider granting passengers the authority to choose parking locations in specific congestion scenarios, limiting the adaptability of robotaxis in complex environments and the user experience.

[0037] To address the aforementioned background, this technical solution proposes an innovative control logic and HMI design concept, aiming to overcome the shortcomings of existing technologies and improve the operational efficiency and passenger satisfaction of robotaxis in urban congestion environments. By introducing a new parking decision algorithm and an intuitive user interface, passengers can proactively choose to end their trip earlier, closer to their destination, under safe conditions, thereby effectively shortening the extra waiting time caused by road congestion and improving travel efficiency. This technological innovation not only improves the passenger experience and reduces anxiety and dissatisfaction caused by long waits, but also reduces ineffective robotaxis driving in congested areas, improving overall traffic flow. Furthermore, by reducing vehicle dwell time in congested areas, it also helps alleviate traffic pressure and reduce the risk of potential traffic accidents, which has positive significance for urban traffic management and environmental protection. Embodiments of this invention provide a control method and apparatus for a mobile robot, a mobile robot, a computer-readable storage medium, and a processor.

[0038] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0039] The methods and embodiments provided in this invention can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a parking control method for an autonomous vehicle according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0040] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the parking control method for an autonomous vehicle in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0041] Example 1

[0042] According to an embodiment of the present invention, a method embodiment for parking control of an autonomous vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0043] Figure 2 This is a flowchart of a parking control method for an autonomous vehicle according to an embodiment of the present invention, such as... Figure 2 As shown, the method includes the following steps:

[0044] In step S202, when it is determined that the autonomous vehicle is currently carrying passengers and is heading to its destination, the surrounding environment information of the autonomous vehicle is detected.

[0045] Optionally, in this embodiment of the invention, the aforementioned autonomous vehicle can be an autonomous taxi, i.e., a robotaxi.

[0046] In this embodiment, the order status is confirmed as a genuine order, meaning the autonomous vehicle is carrying passengers to its destination and is in a passenger-carrying state. When the vehicle is forced to stop due to a vehicle or obstacle ahead, or encounters a higher-priority vehicle or event (such as an emergency vehicle passing by, traffic control), or is pushed into a stopped state by traffic conditions behind, such as a queue of vehicles preventing further progress, it means the vehicle speed drops to 0 or extremely low, and this is considered one of the conditions for applying the "stop here" rule. When the vehicle stops at a red-light controlled intersection, or when the road is completely blocked due to road construction, an accident, or a serious obstacle, although the vehicle speed is also 0, this is not a suitable scenario for passengers to immediately disembark, and these situations are explicitly excluded in the solution.

[0047] This method utilizes advanced sensor arrays, such as LiDAR, cameras, and millimeter-wave radar, to monitor and analyze the surrounding environment in real time. These sensors continuously collect data, including but not limited to road traffic conditions, obstacle locations, pedestrian activity, and traffic signal status. The system uses this information to compare and analyze with onboard map data and traffic rule databases to determine whether the current environment is suitable for activating the "stop and go" function.

[0048] By implementing this control method, the operational flexibility and safety of autonomous vehicles in congested road environments can be significantly improved. Specifically: First, passengers can autonomously choose to disembark at a safe location close to their destination based on real-time traffic conditions, greatly enhancing the passenger experience; second, through precise environmental perception, the system effectively avoids stopping at inappropriate times or locations, reducing the risk of accidents and protecting the safety of passengers and other road users; finally, this step improves vehicle throughput by reducing unnecessary waiting time, indirectly promoting smooth traffic flow and playing a positive role in alleviating urban traffic congestion.

[0049] Step S204: When it is determined from the surrounding environment information that there is congestion on the road where the autonomous vehicle is currently located, obtain the remaining distance between the autonomous vehicle and the destination.

[0050] In this embodiment, based on its determination that there is congestion on the current road, the autonomous vehicle system further extracts the remaining driving distance information between the vehicle and the destination from the autonomous driving system route planning and control module.

[0051] After confirming that the current road is congested and ruling out stops due to red lights, the remaining travel distance between the vehicle and its destination is further extracted from the autonomous driving system's route planning and control module. This process typically involves using high-precision map data and Global Positioning System (GPS) technology to accurately calculate the route distance between the vehicle's current location and the intended destination. By analyzing this distance information and considering the current level of traffic congestion, the system determines whether the "stop here" function is ready to use, i.e., whether the remaining distance is within a preset safe range.

[0052] By implementing this control method, the system can provide passengers with more personalized and flexible parking options based on the accurate calculation of the remaining distance. In congested areas, by obtaining the remaining distance in advance and combining it with the congestion situation, the system allows passengers to park in a safe location close to their destination, reducing inefficient vehicle movement in congestion, saving passengers' time, and significantly improving travel efficiency and riding experience.

[0053] Step S206: When it is determined that the remaining distance is within the reachable range, the current location of the autonomous vehicle is obtained, wherein the reachable range is the range set based on the destination.

[0054] In this embodiment, when the autonomous vehicle is less than 50 meters away from the destination in a straight line, or when the vehicle has passed the destination but is still within 70 meters, the passenger can choose to have the vehicle stop immediately.

[0055] This method allows the autonomous vehicle's control system to further pinpoint the vehicle's current location based on the established concept of "accessibility." This "accessibility" is a specific distance range extending forward and backward from the destination, designed to identify whether the vehicle has approached a reasonable parking area.

[0056] By implementing this control method, the system accurately obtains the current location of the autonomous vehicle and can precisely determine whether the vehicle is within a preset "accessible range." This directly relates to the activation conditions of the "stop here" function, ensuring the accuracy and timeliness of the decision. Based on determining the vehicle's location, the system can ensure that when the parking option is displayed to passengers, the vehicle is indeed located in a safe area close to the destination. Before disembarking, passengers know for certain that they are not far from their destination and that the surrounding environment is suitable for walking, thus enhancing their sense of security when using this function.

[0057] Step S208: When the current position indicates that the autonomous vehicle is currently in the two right lanes of the road, obtain the first current speed of the autonomous vehicle.

[0058] In this embodiment, the parking scenario is expanded. Traditionally, parking may be limited to the rightmost lane, but parking in the two rightmost lanes mentioned here is actually a more flexible strategy.

[0059] This method monitors and acquires the instantaneous speed of autonomous vehicles in real time, especially when the vehicle is confirmed to be within the two rightmost lanes of the road. This process is accomplished through various sensors and data acquisition systems built into the vehicle, such as high-precision maps, GPS positioning information, IMU, camera and LiDAR fusion perception results, which work together to provide an accurate measurement of the vehicle's speed. When the vehicle's position information indicates that it is within the two rightmost lanes, the system immediately reads the vehicle's speed data and checks whether the conditions for subsequent stopping decisions are met.

[0060] By implementing this control method and obtaining the initial current vehicle speed, the system can ensure that the vehicle is in a practically feasible parking state when executing the "stop here" function, rather than in motion or acceleration, thus ensuring parking safety. Once it is confirmed that the vehicle is located in the two rightmost lanes of the road and the speed meets the low or zero speed requirements, passengers can immediately choose to stop without waiting for the vehicle to move slowly, thereby improving the user experience.

[0061] Step S210: When the first current vehicle speed is zero and continues for a predetermined duration, a first parking confirmation prompt message is initiated, wherein the first parking confirmation prompt message is used to prompt the autonomous vehicle to perform a parking operation at the current location.

[0062] In this embodiment, the system monitors the vehicle's real-time speed. Only when the vehicle's current speed is detected to be zero will it further determine whether the "stop here" function can be triggered. Furthermore, the vehicle's zero speed state needs to last for at least 3 seconds to meet the condition. This time requirement is to ensure that the vehicle is indeed in a stable stopped state, rather than a temporary deceleration or a stop due to some instantaneous factors (such as the vehicle in front braking suddenly, the sudden appearance of an obstacle, etc.).

[0063] This method is based on confirming the vehicle's actual parking status, ensuring that a parking confirmation prompt is only displayed to passengers after the vehicle has come to a complete stop and maintained in that state for a sufficiently long time (typically 3 seconds). This is achieved by continuously monitoring the vehicle's speed through its sensor network. Once the speed drops to zero and stabilizes, the system immediately triggers this confirmation process, allowing passengers to decide whether to proceed with the parking operation based on current road conditions and their needs.

[0064] This control method effectively prevents misoperation caused by brief vehicle deceleration or other unstable factors. Passengers only receive a stop confirmation message after confirming the vehicle has come to a complete and safe stop, thus avoiding the safety risks associated with disembarking when the vehicle is about to start or is in an unstable state. The first stop confirmation message provides passengers with a clear signal that it is an appropriate time to stop. After receiving this message, passengers can decide whether to stop the vehicle immediately based on their own judgment and the surrounding environment, thereby increasing their sense of control over the journey and improving the overall travel experience.

[0065] Step S212: After receiving the first parking confirmation feedback message based on the first parking confirmation prompt message, perform a parking operation at the current location.

[0066] In this embodiment, when the passenger selects the "Stop here" function and confirms it a second time, the system checks again whether the vehicle speed meets the specific condition (<3m / s) to determine whether to execute the stop command immediately.

[0067] If, within one second of passenger confirmation, the vehicle speed increases from zero but remains at a low speed (<3 m / s), the system assumes this is likely due to slight traffic flow and the vehicle can still safely execute the immediate stop command. This logic is based on confidence in the vehicle's control capabilities at low speeds and its ability to respond quickly to changes in the surrounding traffic environment.

[0068] By implementing this control method, immediate stopping is allowed even at low speeds. This means that even if the vehicle moves slightly after confirmation, it can stop smoothly, avoiding situations where passengers feel the function is unreliable or have a poor experience due to the inability to stop due to instantaneous speed changes. This rule strikes a balance between safety and passenger needs. It excludes immediate stopping commands at high speeds; at the same time, it allows stopping at low speeds, ensuring that the system can meet passenger needs even in the edge of traffic flow, demonstrating the adaptability and intelligent decision-making capabilities of the autonomous driving system in dynamic environments.

[0069] Figure 3 This is a flowchart of an optional parking control method for an autonomous vehicle according to an embodiment of the present invention, such as... Figure 3 As shown, the parking control method for this autonomous vehicle is mainly achieved through the interaction between the in-vehicle human-machine interface (HMI), the autonomous driving system planning and control module, and the autonomous taxi order processing system. This aims to provide passengers with a suitable function selection while ensuring safety and rationality. Figure 4 This is a schematic diagram illustrating the interaction between in-vehicle human-machine interfaces according to an embodiment of the present invention, such as... Figure 4As shown, a UI interface was designed. The UI display has two modes. In 3D scenes, such as the default 3D map view or the vehicle parking status page, the system directly displays a button (btn) and a pop-up prompt on the right side of the vehicle model. The layout design of this button and prompt borrows from the UX (user experience) design of moving a vehicle, simulating the visual and interactive effects of moving a vehicle in the real world within the user interface, providing intuitive and clear operation prompts. In non-3D scenes, such as menu pages, settings interfaces, music playback interfaces, or air conditioning control interfaces, the system integrates the "Stop Here" button into the pop-up prompt as part of its display. This design fully utilizes screen space, ensuring that passengers can see the parking option even in feature-intensive interfaces. In the pop-up prompt, the system uses "Complete Trip" as the prompt, instead of "End Trip." A secondary confirmation pop-up mechanism is used. When the passenger selects the "Stop Here" function, i.e., parking in advance at a location other than the exact destination, the system will pop up a secondary confirmation dialog window. The title emphasizes the criticality of the operation: "Confirm parking here? Trip will be completed after disembarking." This statement clearly informs passengers that once the vehicle stops at this location, the system will consider this stop as the destination, thus completing the entire trip. The prompt details the consequences and safety precautions of using the "Stop Here" function in three points: It indicates that the vehicle will stop at the current location, and the system will consider the passenger to have arrived at their destination, even if it is not the initially set destination; it reminds passengers to observe the surrounding traffic conditions before getting off the vehicle and ensure safety before exiting from the right side. This step is crucial, especially when getting off at non-standard parking spots, as passengers need a clear understanding of their surroundings to avoid potential traffic risks; it confirms that once "Stop Here" is selected, the operation is irreversible, meaning the trip will end immediately, and the fare will be charged according to the predetermined rules, without any change due to early parking. The Confirm button (btn) allows passengers, after fully understanding the above information, to formally request the vehicle's autonomous driving system planning and control module to immediately execute the parking operation. After clicking Confirm, the system will begin the parking process. The Cancel button closes the pop-up window; if the passenger decides not to stop early after consideration, they can choose to cancel and continue waiting for the vehicle to reach the original destination. Note that canceling the operation only closes the pop-up window and does not affect the display status of the function entry. Whether the entry is displayed or not still depends on the result of the "precondition judgment". Although the pop-up window may be closed, this does not mean that the "Stop Here" function entry will disappear. Whether the entry is displayed or not depends entirely on the result of the "precondition judgment". That is, as long as the vehicle status, location, road conditions, and other conditions still meet the established parking requirements, the function entry will continue to be displayed on the passenger interface.During order processing, when the autonomous driving system's planning and control module successfully executes the "Stop Immediately" command initiated by the in-vehicle human-machine interface—that is, stopping early on a congested road and thus considered as having completed the task of reaching the destination—the system triggers an "Arrival at Destination" event. This means that although the vehicle has not reached the precise location of the initially planned destination, because reasonable action has been taken (i.e., stopping early), the system considers the goal of the trip to have been achieved. This also means that once the "Arrival at Destination" event is triggered, subsequent order completion steps such as payment confirmation, passenger reviews, and trip recording will be automatically executed according to a pre-defined procedure, without needing to be changed based on the source of the parking instruction. This design simplifies operation, improves the overall efficiency and consistency of the system, and also reduces operating costs because it eliminates the need to set up different order completion processes for different parking instruction sources.

[0070] like Figure 4As shown, when the autonomous driving system planning and control module successfully executes its commands, and receives the "Stop here" instruction from the passenger via the in-vehicle human-machine interface, and after checking all preconditions (including but not limited to vehicle status, location, speed, and road conditions), finds that the current situation does allow the vehicle to stop safely, the system will perform the following actions: Autonomous driving system response: The vehicle's autonomous driving system will immediately respond and activate the hazard warning lights. This action signals other road users that the vehicle is stopping or has stopped, especially in congested areas, where this signal can alert surrounding vehicles and pedestrians to avoid the area, improving safety during parking; User feedback from the in-vehicle human-machine interface: The in-vehicle human-machine interface will switch to the "Arrival Page," meaning the system will consider the vehicle to have arrived at its destination, even if the vehicle is not actually at the exact location of the destination. During the switch to the "Arrival Page," the in-vehicle human-machine interface will utilize existing TTS (Text-to-Speech) technology to inform the passenger of information such as "You have arrived at your destination" via voice announcement, while simultaneously switching pages. However, if, at the moment the autonomous driving system's planning and control module receives a parking instruction from a passenger, it finds that the conditions for executing the parking operation are no longer met—whether due to the vehicle speed exceeding the permissible range or changes in road conditions (such as emergency vehicles passing by or temporary changes in traffic rules)—the system will refuse to execute the parking instruction. In this case, the system will provide feedback to the passenger through the following steps: Display of a feedback pop-up: A feedback pop-up appears with the title "Current road conditions do not support parking," clearly informing the passenger that parking is not permitted in the current environment; Detailed explanation: The pop-up explains why the parking instruction cannot be executed, stating that "Due to changes in traffic conditions, 'Stop Now' is temporarily unavailable." It encourages the passenger to try again later and also provides customer service contact information for assistance in case of other problems; Closing the feedback pop-up: The passenger can close the pop-up by clicking the "OK" button. This operation only closes the pop-up itself and does not affect the display status of the "Stop Now" function entry. The display of the entry still depends on the result of the "precondition judgment," ensuring that even after a parking request fails, the passenger still has the opportunity to try the function again when conditions allow.

[0071] As described above, in this embodiment, when it is determined that the autonomous vehicle is currently carrying passengers and is heading to its destination, the surrounding environment information of the autonomous vehicle is detected; when it is determined that there is congestion on the road where the autonomous vehicle is currently located based on the surrounding environment information, the remaining distance between the autonomous vehicle and the destination is obtained; when it is determined that the remaining distance is within the reachable range, the current position of the autonomous vehicle is obtained, wherein the reachable range is a range set based on the destination; when the current position indicates that the autonomous vehicle is currently in the two right lanes of the road, the first current speed of the autonomous vehicle is obtained; when the first current speed is zero and remains so for a predetermined duration, a first stop confirmation is initiated. The system includes a first parking confirmation message to prompt the autonomous vehicle to park at its current location. Upon receiving a first parking confirmation feedback message based on the first parking confirmation message, the vehicle then parks at its current location. This system allows passengers to choose a safe and appropriate parking location in advance when the vehicle is in traffic congestion, significantly reducing passenger waiting time, improving passenger experience, increasing operational flexibility in congested environments, and ensuring passenger safety when deciding to end the trip early. The system achieves the technical effects of optimizing passenger experience, ensuring safety, enhancing system adaptability, reducing resource waste, and standardizing the process of parking early in congested environments.

[0072] Therefore, through the technical solutions provided by the above embodiments of the present invention, the related technologies address the technical problem that autonomous vehicles cannot flexibly allow passengers to get off at a location closer to the destination when facing traffic congestion around the destination, resulting in poor passenger experience and increased travel time.

[0073] According to the above embodiments of the present invention, when it is determined that the autonomous vehicle is currently in a passenger-carrying state and is heading to its destination, detecting the surrounding environmental information of the autonomous vehicle includes: when the autonomous vehicle enters a parking state, obtaining the order status of the autonomous vehicle; analyzing the order status; and if the analysis result indicates that the autonomous vehicle is in a passenger-carrying state, and if it is determined based on the autonomous vehicle's trip information that the autonomous vehicle is heading to its destination, triggering the information collection component on the autonomous vehicle to collect the surrounding environmental information of the autonomous vehicle, so as to detect the information of the autonomous vehicle.

[0074] In this embodiment, the system first accesses and reads the vehicle's order status information the instant the autonomous vehicle enters a parking state. This information includes key data such as whether passengers are already in the vehicle, the trip start time, and the destination. Subsequently, the system analyzes the read order status to determine whether the autonomous vehicle is currently carrying passengers, i.e., whether there are passengers in the vehicle and whether the vehicle is undertaking a specific passenger transport task. If the order status analysis confirms that the vehicle is indeed carrying passengers and is en route to its destination, the system will further confirm whether the vehicle is in the specific stage of its journey to the destination based on trip information (such as real-time location, direction of travel, and distance from the destination).

[0075] Once the system confirms that the vehicle is carrying passengers and is heading towards its destination, it will immediately trigger the information collection components on the autonomous vehicle to begin collecting information about the surrounding environment. These information collection components may include, but are not limited to, LiDAR, cameras, ultrasonic sensors, millimeter-wave radar, etc., which can capture the road conditions, the status of traffic participants, and other potential driving environment elements around the vehicle in a comprehensive manner.

[0076] By implementing this control method, the system analyzes this data and can make more intelligent decisions about whether to activate the "stop here" function. By accurately detecting the surrounding environment, the system can more flexibly cope with complex scenarios such as traffic congestion, allowing passengers to choose to stop in a relatively safe place as they approach their destination, avoiding long waits and significantly improving the passenger travel experience.

[0077] According to the above embodiments of the present invention, before determining that the remaining distance is within the reachable range, the parking control method further includes: determining a first distance on the route between the autonomous vehicle and the destination and the destination in front of the destination and a second distance on the route from the destination to the destination behind the destination; and determining that the distance range corresponding to the first distance and the second distance is the reachable range.

[0078] In this embodiment, to accurately identify whether the "stop here" parking control command can be executed—that is, allowing the autonomous vehicle to stop early in traffic congestion—a "reachable range" first needs to be determined. This range is determined based on the relative position between the vehicle and the destination, specifically including the distances in front of and behind the vehicle from the destination. First distance: This is the distance from the current position of the autonomous vehicle to a point in front of the destination. This distance is typically determined based on the vehicle's driving route and predictions of congestion areas. For example, if 50 meters ahead of the destination is the furthest point where the vehicle can safely stop, then the first distance is the straight-line distance from the current vehicle position to those 50 meters. Second distance: Conversely, this is the distance from the current position of the vehicle to a point behind the destination. For example, if the vehicle can still safely stop and complete the task 70 meters behind the destination, then the second distance is the straight-line distance from the current vehicle position to those 70 meters.

[0079] This method defines an "accessible range" based on the calculated first and second distances. This range is essentially two distance segments extending forward and backward from the current vehicle position, constituting the effective area where the vehicle can safely park and is considered to have reached its destination. The system defines the area marked by the first and second distances as the accessible range, meaning that as long as the autonomous vehicle's position is within this range, it possesses the geographical conditions to execute the "stop here" command. The setting of this range comprehensively considers real-time road congestion, the minimum space requirements for safe vehicle parking, and the comfort of passenger walking distance.

[0080] By implementing this control method and defining this reachable range, it becomes possible to more accurately determine when to present the "stop here" option to passengers. Passengers will only be prompted and allowed to use the function when the vehicle's location simultaneously meets the following conditions: it is within reach, carrying passengers, traveling towards its destination, or stopped due to traffic congestion. This method not only optimizes the passenger experience in congested environments but also ensures the safety and rationality of parking decisions, representing a significant innovation in the practical application of autonomous driving technology.

[0081] According to the above embodiments of the present invention, after receiving a first parking confirmation feedback message based on a first parking confirmation prompt message, performing a parking operation at the current location includes: after receiving the first parking confirmation feedback message based on the first parking confirmation prompt message, sending a second parking confirmation prompt message again; and after receiving a second parking confirmation feedback message based on the second parking confirmation prompt message, performing a parking operation at the current location.

[0082] In this embodiment, after receiving the passenger's initial confirmation of parking, the parking control method introduces a secondary confirmation mechanism, which aims to enhance the safety of the operation and the passenger's decision-making autonomy.

[0083] This method involves a secondary confirmation process. After a passenger in an autonomous vehicle initially confirms the "stop here" request through the in-vehicle human-machine interface, the system does not immediately execute the parking operation. Instead, it initiates a second confirmation process. This process includes sending a second parking confirmation message to the passenger, requiring secondary confirmation to ensure the passenger's intention to stop is clear and firm. Only after the system receives confirmation feedback from the passenger based on the second prompt—the second confirmation parking feedback message—will the autonomous driving system's planning and control module ultimately execute the instruction to stop immediately at the current location.

[0084] By implementing this control method, this secondary confirmation step significantly enhances the safety and reliability of autonomous vehicle operation. On one hand, it reduces stop commands triggered by system misjudgments or unintentional passenger actions, avoiding unnecessary stopping operations and potential traffic chaos. On the other hand, by providing passengers with an additional confirmation opportunity, it strengthens their trust in the system, ensuring that passengers can fully assess their surroundings and needs before deciding to disembark early, making a more rational and safer decision.

[0085] According to the above embodiments of the present invention, after receiving a second confirmed parking feedback message based on a second parking confirmation prompt message, performing a parking operation at the current location includes: after receiving a second confirmed parking feedback message based on a second parking confirmation prompt message, obtaining a second current vehicle speed of the autonomous vehicle; and when it is determined that the second current vehicle speed is less than a preset vehicle speed, performing a parking operation at the current location.

[0086] In this embodiment, when the passenger confirms the parking request for the second time, the system will immediately re-check the current status of the vehicle to ensure the safety and feasibility of the parking operation.

[0087] After the passenger confirms the "stop here" request twice via the in-vehicle human-machine interface, the system further checks the actual operating status of the autonomous vehicle, paying particular attention to the vehicle's current speed. The step of obtaining the second current speed—the speed measurement after the passenger's second confirmation—is to ensure that the vehicle is indeed within a suitable speed range when performing the parking operation. If the detected second current speed is lower than a preset safety threshold (preset speed), the vehicle's autonomous driving system planning and control module will determine that the current conditions are suitable for parking and immediately perform the parking operation at the current location.

[0088] By implementing this control method, the safety of autonomous vehicles and passenger satisfaction can be significantly improved when performing the "stop and go" function. On one hand, by performing a secondary check on vehicle speed, this invention ensures that the vehicle's speed has decreased to a safe level when executing a stop command, reducing the risk of rear-end collisions and other accidents that could occur due to sudden stops at high speeds. On the other hand, this mechanism enhances passenger trust, as they understand that the system performs a comprehensive safety check before performing any significant operation.

[0089] According to the above embodiments of the present invention, the parking control method further includes: after determining that the autonomous vehicle has successfully performed the parking operation, redirecting to the arrival page of the display component of the autonomous vehicle to indicate arrival at the destination; generating a voice prompt message to indicate that the autonomous vehicle has successfully performed the parking operation; and generating and sending an order processing flow.

[0090] In this embodiment, once the autonomous driving system planning and control module successfully executes the "stop here" parking operation, a series of subsequent actions will be automatically triggered, which are intended to notify passengers that parking has been completed in various ways and to support the order completion process.

[0091] The system first updates the autonomous vehicle's display to the arrival page, providing visual feedback to clearly inform passengers that they have "arrived" at their destination, even if they are actually at a parking spot near the destination. Subsequently, the system generates and plays a voice prompt message, further emphasizing the successful parking through the auditory channel, providing passengers with multi-sensory confirmation and ensuring they don't miss the parking completion notification even in complex environments. Finally, the system generates and sends an order processing flow, triggering the order's endpoint determination mechanism. This flow may include marking the order status as completed, releasing vehicle resources, updating the passenger bill, and providing relevant customer service follow-up options, such as ratings and complaint channels.

[0092] This control approach significantly improves passenger satisfaction. Timely and clear multi-channel feedback allows passengers to immediately understand the vehicle's responsiveness, eliminating anxiety caused by waiting and uncertainty. From a safety perspective, dual visual and auditory confirmation helps ensure passengers safely exit the vehicle only after it has come to a complete stop, reducing the risk of potential traffic accidents. Automated order processing simplifies the interaction between passengers and the vehicle, allowing passengers to update order status without manual intervention, saving time and effort and reducing the incidence of problems caused by human error. This design also promotes efficient collaboration within the system, ensuring information synchronization and consistent response between different subsystems, providing solid technical support for the commercial operation of autonomous vehicles.

[0093] According to the above embodiments of the present invention, initiating a first parking confirmation prompt message, or sending a second parking confirmation prompt message, includes: when the display component of the autonomous vehicle displays a vehicle model of the autonomous vehicle, displaying a parking confirmation control at a predetermined position of the vehicle model to initiate a first parking confirmation prompt message or a second parking confirmation prompt message; when the display component of the autonomous vehicle does not display a vehicle model of the autonomous vehicle, displaying a parking confirmation control on the function settings page of the display component to initiate a first parking confirmation prompt message or a second parking confirmation prompt message.

[0094] In this embodiment, two different strategies are used to confirm the display of the parking control and the initiation of the confirmation message to adapt to different scenarios of the autonomous vehicle's display interface, ensuring that passengers can conveniently and intuitively receive and confirm this important parking request regardless of which interface they are currently viewing.

[0095] This method utilizes context-aware UI (user interface) design principles to ensure that parking requests can be quickly and intuitively recognized and operated by passengers in any visual environment. When the display shows a vehicle model, controls are placed in predetermined locations on the model, such as the door area or the side of the vehicle, to simulate the intuitiveness of passenger interaction with a vehicle in real life. However, on function settings pages where a vehicle model is not displayed, the controls are integrated into the current interface, such as the menu sidebar or bottom toolbar, to avoid interrupting other operations the passenger is performing.

[0096] By implementing this control method, passenger interaction convenience is greatly enhanced. Whether checking vehicle status, adjusting seat position, selecting entertainment programs, or querying navigation information, passengers can quickly locate and confirm the parking control without repeatedly switching between different interfaces, saving valuable time. Secondly, by providing a consistent parking confirmation method across multiple interfaces, the system reduces passenger confusion caused by interface differences, ensuring that passengers can intuitively understand and correctly execute parking requests in any display mode. This is crucial for rapid response in emergency situations.

[0097] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0098] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.

[0099] Example 2

[0100] According to embodiments of the present invention, a parking control device for an autonomous vehicle that implements the above-described parking control method for an autonomous vehicle is also provided. Figure 5 This is a schematic diagram of a parking control device for an autonomous vehicle according to an embodiment of the present invention, such as... Figure 5 As shown, the device includes: a first detection unit 501, a first acquisition unit 503, a second acquisition unit 505, a third acquisition unit 507, a first initiation unit 509, and a first execution unit 511. The device will now be described in detail.

[0101] The first detection unit 501 is used to detect the surrounding environment information of the autonomous vehicle when it is determined that the autonomous vehicle is currently in a passenger-carrying state and is heading to its destination.

[0102] The first acquisition unit 503 is used to acquire the remaining distance between the autonomous vehicle and the destination when it is determined from the surrounding environment information that there is congestion on the road where the autonomous vehicle is currently located.

[0103] The second acquisition unit 505 is used to acquire the current position of the autonomous vehicle when it is determined that the remaining distance is within the reachable range, wherein the reachable range is a range set based on the destination.

[0104] The third acquisition unit 507 is used to acquire the first current speed of the autonomous vehicle when the current position indicates that the autonomous vehicle is currently in the two right lanes of the road.

[0105] The first initiating unit 509 is used to initiate a first parking confirmation prompt message when the first current vehicle speed is zero and continues for a predetermined duration. The first parking confirmation prompt message is used to prompt the autonomous vehicle to perform a parking operation at the current location.

[0106] The first execution unit 511 is used to perform a parking operation at the current position after receiving a first parking confirmation feedback message based on a first parking confirmation prompt message.

[0107] It should be noted that the first detection unit 501, the first acquisition unit 503, the second acquisition unit 505, the third acquisition unit 507, the first initiation unit 509, and the first execution unit 511 mentioned above correspond to steps S202 to S212 in the above embodiments. The six units and the corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in the above embodiments.

[0108] As can be seen from the above, in the solution described in the above embodiments of the present invention, the first detection unit can detect the surrounding environment information of the autonomous vehicle when it is determined that the autonomous vehicle is currently in a passenger-carrying state and is heading to the destination; the first acquisition unit can acquire the remaining distance between the autonomous vehicle and the destination when it is determined that there is congestion on the road where the autonomous vehicle is currently located based on the surrounding environment information; the second acquisition unit can acquire the current position of the autonomous vehicle when it is determined that the remaining distance is within the reachable range, wherein the reachable range is a range set based on the destination; the third acquisition unit can acquire the first current speed of the autonomous vehicle when the current position indicates that the autonomous vehicle is currently in the two right lanes of the road; the first initiation unit can initiate a first parking confirmation prompt message when the first current speed is zero and continues for a predetermined duration, wherein the first parking confirmation prompt message is used to prompt the autonomous vehicle to perform a parking operation at the current position; and the first execution unit can perform a parking operation at the current position after receiving a first parking confirmation feedback message based on the first parking confirmation prompt message. The above solution achieves the goal of allowing passengers to choose a safe and appropriate parking location in advance when the road is congested, significantly shortening passenger waiting time, improving passenger experience, increasing operational flexibility in congested environments, and ensuring passenger safety when deciding to end the trip early. This optimizes passenger experience, ensures safety, enhances system adaptability, reduces resource waste, and standardizes the process of parking early in congested environments. Furthermore, it solves the technical problem in related technologies where autonomous vehicles cannot flexibly allow passengers to disembark early at locations close to the destination when faced with traffic congestion around the destination, resulting in poor passenger experience and increased travel time.

[0109] Optionally, the first detection unit includes: a first acquisition module, used to acquire the order status of the autonomous vehicle when the autonomous vehicle enters a parking state; and a first detection module, used to analyze the order status, and if the analysis result indicates that the autonomous vehicle is in a passenger-carrying state, and if it is determined based on the autonomous vehicle's trip information that the autonomous vehicle is heading to its destination, trigger the information collection component on the autonomous vehicle to collect the surrounding environment information of the autonomous vehicle in order to detect the information of the autonomous vehicle.

[0110] Optionally, the second acquisition unit includes: a first determining module, configured to determine a first distance on the route between the autonomous vehicle and the destination and the distance in front of the destination and a second distance on the route from the destination to the rear of the destination; and a second determining module, configured to determine that the distance range corresponding to the first distance and the second distance is an reachable range.

[0111] Optionally, the first initiating unit includes: a first sending module, configured to send a second parking confirmation prompt message again after receiving a first parking confirmation feedback message based on the first parking confirmation prompt message; and a first execution module, configured to perform a parking operation at the current location after receiving a second parking confirmation feedback message based on the second parking confirmation prompt message.

[0112] Optionally, the first execution module includes: a first acquisition submodule, configured to acquire the second current speed of the autonomous vehicle after receiving a second confirmation parking feedback message based on a second parking confirmation prompt message; and a first execution submodule, configured to perform a parking operation at the current position when it is determined that the second current speed is less than a preset speed.

[0113] Optionally, any one of the above modules includes: a first prompting submodule, used to jump to the arrival page of the autonomous vehicle's display component after confirming that the autonomous vehicle has successfully performed the parking operation, to prompt that the destination has been reached; a second prompting submodule, used to generate a voice prompt message to prompt that the autonomous vehicle has successfully performed the parking operation; and a first sending submodule, used to generate and send the order processing flow.

[0114] Optionally, the first sending module includes: a first initiation submodule, configured to display a parking confirmation control at a predetermined position on the vehicle model when the display component of the autonomous vehicle displays a vehicle model of the autonomous vehicle, so as to initiate a first parking confirmation prompt message or a second parking confirmation prompt message; and a second initiation submodule, configured to display a parking confirmation control on the function settings page of the display component when the display component of the autonomous vehicle does not display a vehicle model of the autonomous vehicle, so as to initiate a first parking confirmation prompt message or a second parking confirmation prompt message.

[0115] According to one aspect of the present invention, an autonomous driving vehicle is provided, which uses the parking control method for autonomous driving vehicles described above.

[0116] According to one aspect of the present invention, a processor is provided for running a program, wherein the program executes the parking control method for an autonomous vehicle as described above.

[0117] According to one aspect of the present invention, a computer program product is provided, including computer instructions, which, when executed by a processor, perform a parking control method for an autonomous vehicle according to any of the above-described embodiments.

[0118] According to one aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program, when executed by a processor, performs the parking control method for an autonomous vehicle as described above.

[0119] Optionally, in this embodiment, the computer-readable storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any communication device in a group of communication devices.

[0120] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: when it is determined that the autonomous vehicle is currently in a passenger-carrying state and is heading to a destination, detecting the surrounding environment information of the autonomous vehicle; when it is determined that there is congestion on the road where the autonomous vehicle is currently located based on the surrounding environment information, obtaining the remaining distance between the autonomous vehicle and the destination; when it is determined that the remaining distance is within the reachable range, obtaining the current position of the autonomous vehicle, wherein the reachable range is a range set based on the destination; when the current position indicates that the autonomous vehicle is currently in the two right lanes of the road, obtaining the first current speed of the autonomous vehicle; when the first current speed is zero and continues for a predetermined duration, initiating a first parking confirmation prompt message, wherein the first parking confirmation prompt message is used to prompt the autonomous vehicle to perform a parking operation at the current position; after receiving a first parking confirmation feedback message based on the first parking confirmation prompt message, performing a parking operation at the current position.

[0121] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: when the autonomous vehicle enters a parking state, obtaining the order status of the autonomous vehicle; analyzing the order status, and if the analysis result indicates that the autonomous vehicle is in a passenger-carrying state, and if it is determined based on the autonomous vehicle's trip information that the autonomous vehicle is heading to its destination, triggering the information collection component on the autonomous vehicle to collect information about the surrounding environment of the autonomous vehicle, so as to perform information detection on the autonomous vehicle.

[0122] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: determining a first distance on the route between the autonomous vehicle and the destination and the destination in front of the destination, and a second distance on the route from the destination behind the destination; determining the distance range corresponding to the first distance and the second distance as an reachable range.

[0123] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: after receiving a first parking confirmation feedback message based on a first parking confirmation prompt message, sending a second parking confirmation prompt message again; after receiving a second parking confirmation feedback message based on a second parking confirmation prompt message, performing a parking operation at the current location.

[0124] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: after receiving a second confirmation parking feedback message based on a second parking confirmation prompt message, obtaining the second current speed of the autonomous vehicle; and when it is determined that the second current speed is less than a preset speed, performing a parking operation at the current location.

[0125] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: after determining that the autonomous vehicle has successfully performed the parking operation, redirecting to the arrival page of the autonomous vehicle's display component to indicate arrival at the destination; generating a voice prompt message to indicate that the autonomous vehicle has successfully performed the parking operation; and generating and sending an order processing flow.

[0126] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: when the display component of the autonomous vehicle displays a vehicle model of the autonomous vehicle, a parking confirmation control is displayed at a predetermined position of the vehicle model to initiate a first parking confirmation prompt message or a second parking confirmation prompt message; when the display component of the autonomous vehicle does not display a vehicle model of the autonomous vehicle, a parking confirmation control is displayed on the function settings page of the display component to initiate a first parking confirmation prompt message or a second parking confirmation prompt message.

[0127] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0128] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be 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 displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0129] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0130] 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 units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0131] Furthermore, the functional units in the various embodiments of the present invention 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. The integrated unit can be implemented in hardware or as a software functional unit.

[0132] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part 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 of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0133] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A parking control method of an autonomous vehicle, characterized by, The method comprises: detecting surrounding environment information of the autonomous vehicle when it is determined that the autonomous vehicle is currently in a passenger-carrying state and is in a stage of going to a destination; acquiring a remaining distance between the autonomous vehicle and the destination when it is determined that there is congestion on a road where the autonomous vehicle is currently located according to the surrounding environment information; acquiring a current position of the autonomous vehicle when it is determined that the remaining distance is within a reachable range, wherein the reachable range is a range set based on the destination; acquiring a first current speed of the autonomous vehicle when the current position indicates that the autonomous vehicle is currently located within two lanes on the right side of the road; initiating a first parking confirmation prompt message when the first current speed is zero and lasts for a predetermined length of time, wherein the first parking confirmation prompt message is used to prompt the autonomous vehicle to perform a parking operation at the current position; performing the parking operation at the current position after receiving a first confirmation parking feedback message based on the first parking confirmation prompt message.

2. The parking control method of an automated vehicle according to claim 1, characterized by, The method comprises: acquiring an order state of the autonomous vehicle when the autonomous vehicle enters a parking state; analyzing the order state, and triggering an information acquisition component on the autonomous vehicle to acquire surrounding environment information of the autonomous vehicle for information detection of the autonomous vehicle when the analysis result indicates that the autonomous vehicle is in the passenger-carrying state and is in a stage of going to the destination based on trip information of the autonomous vehicle.

3. The parking control method of an automated vehicle according to claim 1, characterized by, Before determining that the remaining distance is within the reachable range, the parking control method further comprises: determining a first distance in front of the destination on a route where the autonomous vehicle and the destination are located and a second distance behind the destination on the route; determining that a distance range corresponding to the first distance and the second distance is the reachable range.

4. The parking control method of an automated vehicle according to claim 1, characterized by, After receiving the first confirmation parking feedback message based on the first parking confirmation prompt message, performing the parking operation at the current position comprises: sending a second parking confirmation prompt message again after receiving the first confirmation parking feedback message based on the first parking confirmation prompt message; performing the parking operation at the current position after receiving a second confirmation parking feedback message based on the second parking confirmation prompt message.

5. The parking control method of an automated vehicle according to claim 4, characterized by, After receiving the second confirmation parking feedback message based on the second parking confirmation prompt message, performing the parking operation at the current position comprises: acquiring a second current speed of the autonomous vehicle after receiving the second confirmation parking feedback message based on the second parking confirmation prompt message; performing the parking operation at the current position when it is determined that the second current speed is less than a preset speed.

6. The parking control method of an automated vehicle according to any one of claims 1 to 5, characterized by, The parking control method further comprises: jump to a destination page of a display component of the autonomous vehicle to prompt arrival at the destination after determining that the autonomous vehicle successfully performs the parking operation; generate a voice prompt message to prompt that the autonomous vehicle successfully performs the parking operation; generate and send an order processing flow.

7. The parking control method of an automated vehicle according to claim 4, characterized by, initiate a first parking confirmation prompt message, or send a second parking confirmation prompt message, including: in a case where a vehicle model of the autonomous vehicle is displayed on a display component of the autonomous vehicle, display a confirmation parking control at a predetermined position of the vehicle model to initiate the first parking confirmation prompt message or the second parking confirmation prompt message; in a case where the vehicle model of the autonomous vehicle is not displayed on the display component of the autonomous vehicle, display the confirmation parking control on a function setting page of the display component to initiate the first parking confirmation prompt message or the second parking confirmation prompt message.

8. A parking control device of an autonomous vehicle, characterized by comprising: including: a first detection unit configured to detect surrounding environment information of an autonomous vehicle when it is determined that the autonomous vehicle is currently in a passenger-carrying state and is in a stage of going to a destination; a first acquisition unit configured to acquire a remaining distance between the autonomous vehicle and the destination when it is determined that there is congestion on a road currently traveled by the autonomous vehicle according to the surrounding environment information; a second acquisition unit configured to acquire a current position of the autonomous vehicle when it is determined that the remaining distance is within an accessible range, wherein the accessible range is a range set based on the destination; a third acquisition unit configured to acquire a first current speed of the autonomous vehicle when the current position indicates that the autonomous vehicle is currently on the right side of the road within two lanes; a first initiation unit configured to initiate a first parking confirmation prompt message when the first current speed is zero and lasts for a predetermined length of time, wherein the first parking confirmation prompt message is used to prompt the autonomous vehicle to perform a parking operation at the current position; a first execution unit configured to perform the parking operation at the current position after receiving a first confirmation parking feedback message based on the first parking confirmation prompt message.

9. An autonomous vehicle, comprising: The autonomous vehicle uses the parking control method of the autonomous vehicle according to any one of claims 1 to 7.

10. A computer program product comprising computer instructions for performing the parking control method of the autonomous vehicle according to any one of claims 1 to 7 when executed by a processor.

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