Parking method and device, electronic equipment and vehicle

Abstract

The invention relates to a parking method and device, electronic equipment and a vehicle, and the method comprises the steps: obtaining a parking space position of a parking space where the vehicle is located and a gate position of a parking lot corresponding to the parking space; based on the parking space position and the gate position, the distance between the parking space and a gate of the parking lot and the gate direction of the gate relative to the parking space are determined; under the condition that the distance is smaller than the preset distance, the vehicle is controlled to be driven out from the target direction, and the target direction is different from the gate direction. According to the technical scheme, the parking space position of the parking space where the vehicle is located and the gate position of the parking lot gate are recorded, the distance between the gate position and the parking space position is determined according to the gate position and the parking space position, and when the distance between the gate position and the parking space position is smaller than the preset distance, the vehicle is controlled to be parked in other directions different from the gate direction. The collision risk caused by the fact that the vehicle is parked out from the direction of the gate machine when the vehicle is close to the gate machine is avoided, the safety of automatically parking the vehicle out of the parking space is improved, and the use experience of a user is improved.

Description

[0001] This disclosure claims priority to Chinese Patent Application No. 202511124540.5, filed on August 12, 2025, entitled "Parking Method, Apparatus, Electronic Equipment and Vehicle for Preventing Collision with Gate", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of autonomous driving technology, and in particular to a parking method, apparatus, electronic device, and vehicle. Background Technology

[0003] With the improvement of living standards and the acceleration of the pace of life, people own more and more vehicles, drive more and more to travel, and life is becoming more and more convenient.

[0004] Currently, most vehicles have automatic parking functions, allowing them to park in or out of parking spaces automatically without manual control. When a driver activates the automatic parking function to exit a parking space, the onboard camera and ultrasonic radar detect obstacles in the surrounding environment and may determine the side of the gate as the recommended parking direction. If the driver does not carefully observe the surrounding environment, the vehicle may easily collide with the gate arm when parking in the recommended direction, posing a collision risk. Summary of the Invention

[0005] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, at least one embodiment of the present disclosure provides a parking method, apparatus, electronic device and vehicle.

[0006] In a first aspect, this disclosure provides a parking method, including: Obtain the location of the parking space where the vehicle is located and the location of the gate in the parking lot corresponding to the parking space; Based on the location of the parking space and the location of the gate, determine the distance between the parking space and the gate of the parking lot, as well as the gate direction of the gate relative to the parking space; If the distance is less than a preset distance, the vehicle is controlled to park from the target direction, which is different from the direction of the gate.

[0007] Secondly, this disclosure provides a parking device, including: The acquisition module is used to acquire the location of the parking space where the vehicle is located and the location of the gate of the parking lot corresponding to the parking space; The determining module is used to determine the distance between the parking space and the gate of the parking lot, as well as the gate direction of the gate relative to the parking space, based on the parking space location and the gate location. The control module is used to control the vehicle to park from a target direction when the distance is less than a preset distance, the target direction being different from the gate direction.

[0008] Thirdly, this disclosure provides an electronic device, including: a processor and a memory; The processor executes the parking method as described in the first aspect by invoking programs or instructions stored in the memory.

[0009] Fourthly, this disclosure provides a computer-readable storage medium storing a program or instructions that cause a computer to perform the parking method as described in the first aspect.

[0010] Fifthly, this disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the parking method as described in the first aspect.

[0011] In a sixth aspect, this disclosure provides a vehicle including a parking device as described in the second aspect, an electronic device as described in the third aspect, a computer-readable storage medium as described in the fourth aspect, or a computer program product as described in the fifth aspect.

[0012] The technical solution provided in this disclosure has at least the following advantages compared with the prior art: In this embodiment, by obtaining the location of the parking space where the vehicle is located and the location of the parking lot's gate, the distance between the parking space and the parking lot's gate, as well as the gate's direction relative to the parking space, are determined based on the parking space and gate locations. If the distance is less than a preset distance, the vehicle is controlled to exit from a target direction, which is different from the gate's direction. By recording the parking space location and the parking lot's gate location, and then determining the distance between them, the vehicle is controlled to exit from a direction different from the gate's direction when the distance is less than a preset distance. This avoids the collision risk caused by exiting from the gate's direction when close to it, improves the safety of automatic vehicle parking, and enhances the user experience. Attached Figure Description

[0013] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0014] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 A schematic flowchart of a parking method provided for an exemplary embodiment of this disclosure; Figure 2 A schematic diagram of the vehicle parking direction is shown in an exemplary embodiment of the present disclosure; Figure 3 A schematic flowchart of a parking method provided as another exemplary embodiment of this disclosure; Figure 4 A schematic flowchart of a parking method provided as yet another exemplary embodiment of this disclosure; Figure 5 A schematic flowchart of a parking method according to a specific embodiment of the present disclosure is shown; Figure 6 This is a schematic diagram of the structure of a parking device provided in one embodiment of the present disclosure. Detailed Implementation

[0016] To better understand the above-described objectives, features, and advantages of this disclosure, the present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the described embodiments are only some, not all, of the embodiments of this disclosure. The specific embodiments described herein are merely for explaining this disclosure and not for limiting it. Unless otherwise specified, the embodiments of this disclosure and the features within them can be combined with each other. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure are within the scope of protection of this disclosure.

[0017] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0018] Currently, most vehicles have automatic parking functions. When the driver drives to a parking space next to the gate, activating automatic parking will allow the vehicle to park smoothly. However, when the driver drives away from the parking space, because the gate is installed at a high position, the onboard camera and ultrasonic radar cannot recognize the gate after assessing the surrounding environment. The system may recommend the side of the gate as the recommended exit direction. If the driver does not carefully observe the surrounding environment, the vehicle may hit the gate when exiting the parking space, posing a collision risk.

[0019] To address the aforementioned issues, this disclosure provides a parking solution that prevents collisions between vehicles and parking gates when exiting a parking space. In some embodiments of this solution, the vehicle's infotainment system memorizes the parking environment, including the position of the suspended gate arm. Based on the recorded position, the system determines the distance between the gate and the parking space. When a user exits the parking space, the infotainment system recommends an exit direction based on the distance and direction relationship between the gate and the parking space, thus avoiding the collision risk associated with parking in the recommended gate direction. This solution reduces the collision risk caused by cameras and ultrasonic radar failing to recognize suspended objects by associating the exit direction of the vehicle with the gate position.

[0020] The following detailed explanation, in conjunction with the accompanying drawings, illustrates the specific implementation methods of the parking method, apparatus, electronic equipment, and vehicle disclosed herein.

[0021] Figure 1 This is a schematic flowchart of a parking method provided in an exemplary embodiment of the present disclosure. The method can be executed by a parking device provided in an embodiment of the present disclosure. The parking device can be implemented in software and / or hardware and can be integrated into an electronic device that can be integrated into a vehicle.

[0022] like Figure 1 As shown, the parking method may include the following steps: Step 101: Obtain the location of the parking space where the vehicle is located and the location of the gate in the parking lot corresponding to the parking space.

[0023] The parking space location and the gate location can be represented in different ways. For example, the parking space location can be determined using the coordinates of the center point of the parking space area, and the gate location can be determined using the coordinates of the two endpoints of the gate, or the coordinates of the midpoint of the gate arm. This disclosure does not impose any restrictions on this. The parking space location and the gate location can be determined in the same two-dimensional coordinate system.

[0024] As an example, a map building process can be initiated before a vehicle enters the parking lot to create an environmental map of the process of the vehicle parking in a specific parking space. The location of the parking lot gate and the parking space where the vehicle is parked can be marked on the constructed environmental map. The marked gate and parking space locations can be stored in the background, for example, in the memory of the vehicle's infotainment system. When the vehicle leaves the parking space, the electronic devices can retrieve the latest stored parking space and gate locations from memory.

[0025] As another example, electronic devices can interact with in-vehicle navigation systems to obtain the vehicle's current location and identify it as the parking space location. The in-vehicle navigation system can determine that the vehicle is in a parking lot based on its current location and obtain the locations of all turnstiles in the parking lot. Based on the planned path from the vehicle's location to each turnstile, it determines the path distance between the vehicle's location and each turnstile and feeds this information back to the electronic device. The electronic device then selects the turnstile with the shortest path distance and obtains its location as the turnstile location. This is because when a user exits the parking lot, they typically prioritize using the closest turnstile. Therefore, in this example, only the location of the turnstile with the shortest path distance is obtained for subsequent distance and direction calculations. This avoids the waste of computing resources that would occur in scenarios with multiple turnstiles in a parking lot, where distance and direction calculations would be performed for each turnstile's location.

[0026] As another example, electronic devices can interact with a parking management server to obtain the location of the parking space where the vehicle is located and the location of the parking lot's gate. For instance, when a user leaves a parking space, the electronic device can send a location request to the parking management server. This location request can carry the vehicle's location information. After receiving the location request, the parking management server can determine the parking lot and parking space where the vehicle is located based on the location information in the request. Then, based on the determined parking lot, it can query the preset correspondence between different parking lots and their corresponding gate and parking space locations to determine the gate location of the parking lot where the vehicle is located and the parking space location, and return the determined gate and parking space locations to the electronic device.

[0027] Step 102: Based on the location of the parking space and the location of the gate, determine the distance between the parking space and the gate of the parking lot, as well as the gate direction of the gate relative to the parking space.

[0028] In this embodiment, after the electronic device obtains the parking space location and the gate location, it can determine the distance between the parking space and the parking lot gate, as well as the direction of the gate relative to the parking space where the vehicle is located (referred to as the gate direction in this embodiment) based on the parking space location and the gate location.

[0029] The distance can be the straight-line distance between two coordinates, and the direction of the gate can be left or right.

[0030] As an example, in some scenarios, the exit gate and entrance gate of a parking lot are the same gate, and the parking lot has only this one gate. When determining the distance between the parking lot gate and the parking space and the gate direction, a distance value and a gate direction are calculated based on the position between the two.

[0031] As another example, in some scenarios, the exit gate and the entrance gate of a parking lot are two different gates. When determining the distance between the parking lot gate and the parking space and the gate direction, you can determine only the distance between the exit gate and the parking space and the gate direction, or you can determine the distance between the exit gate and the parking space and the gate direction of the entrance gate respectively.

[0032] As another example, in some scenarios, the obtained gate location is the gate with the shortest path distance to the vehicle. When determining the distance between the gate and the parking space and the gate direction, a distance value and a gate direction are calculated based on the position between the two.

[0033] In one optional embodiment of this disclosure, the position of the gate is determined by the coordinates of the two endpoints of the gate. When determining the distance between the parking lot gate and the parking space, the distances between the two endpoints and the parking space are calculated separately to obtain two distance values. The smaller of the two distance values ​​is selected as the distance between the parking lot gate and the parking space. This can minimize the risk of vehicles parking out from the direction of the gate and reduce the risk of collision between vehicles and the gate.

[0034] As an example, when a user parks out of a parking space, data can be collected by multiple sensors such as LiDAR, vehicle-mounted cameras, and ultrasonic sensors. The data collected by multiple sensors can be fused to determine the distance and directional relationship between the vehicle and the gate. The accuracy of the gate status judgment can be ensured through multi-sensor data fusion.

[0035] Step 103: If the distance is less than the preset distance, control the vehicle to park from the target direction, which is different from the gate direction.

[0036] The preset distance can be set based on experience or obtained by measuring it in advance at the parking lot.

[0037] In this embodiment, after determining the distance between the parking space and the parking lot gate, the obtained distance can be compared with a preset distance. If the distance between the parking space and the parking lot gate is less than the preset distance, it can be determined that the parking space where the vehicle is located is too close to the gate. Parking out from the gate side may cause a collision with the gate arm. In this case, the vehicle is controlled to park out from the target direction, which is another parking direction different from the gate direction. For example, if the gate direction is to the left, that is, the gate is located to the left of the parking space, then the target direction can be to the right, forward, or other directions.

[0038] It should be noted that if the parking lot has only one gate (i.e., the exit and entrance share the same gate), only one distance is calculated, and this distance can be compared with the preset distance. If the parking lot has two gates (i.e., the exit and entrance use different gates) and the distance to the parking space is calculated separately, you can compare only the smaller of the two distances with the preset distance, or you can compare them separately with the preset distance.

[0039] Figure 2 A schematic diagram of the vehicle parking direction of an exemplary embodiment of the present disclosure is shown, such as... Figure 2 As shown, when a vehicle parks in a space next to the gate (the distance between the parking space and the gate is less than a preset distance), the vehicle will not park from the gate side. For example, Figure 2 In the middle, the turnstile is located on the left side of vehicle 1. The recommended exit directions are forward and to the right. Figure 2 The middle arrow indicates the recommended parking exit direction. It is evident that, using the solution disclosed herein, when a vehicle parks in a space close to the gate, the electronic equipment will not recommend parking in the direction of the gate when exiting, thus avoiding collisions between the vehicle and the gate arm.

[0040] In one optional embodiment of this disclosure, the determined gate orientation can also be displayed on the vehicle-mounted display screen so that the user can intuitively perceive the position of the gate relative to the vehicle.

[0041] The parking method of this disclosure obtains the location of the parking space where the vehicle is located and the location of the parking lot's gate. Based on the parking space location and the gate location, it determines the distance between the parking space and the parking lot's gate, as well as the gate's direction relative to the parking space. When the distance is less than a preset distance, it controls the vehicle to exit from a target direction, which is different from the gate's direction. By recording the parking space location and the parking lot's gate location, and then determining the distance between them, the method controls the vehicle to exit from a direction different from the gate's direction when the distance is less than a preset distance. This avoids the collision risk caused by exiting from the gate's direction when close to it, improves the safety of automatic parking, and enhances the user experience.

[0042] In one optional embodiment of this disclosure, the electronic device can determine the positional relationship between the parking space and the parking lot gate by constructing an environmental map during the parking process when the vehicle enters the parking lot at the gate. Therefore, in this embodiment, the method may further include: constructing an environmental map based on environmental information during the vehicle parking process; obtaining a first position of the parking lot gate in the environmental map; obtaining a second position of the parking space in the environmental map; and then storing the first and second positions to a target storage path.

[0043] The target storage path can be preset by the developers. The target storage path is a storage path in the memory of the vehicle system. The data under the target storage path will not be lost when the vehicle is powered off.

[0044] For example, during the process of a vehicle driving to the gate and entering the parking lot to park in a space, an onboard camera can capture images of the surrounding environment and construct an environmental map based on these images. When the onboard camera captures an image of the gate and identifies it from the image using a visual recognition model, the gate's location (i.e., the first location) can be marked on the environmental map. This visual recognition model can be pre-trained. When the vehicle passes through the gate and parks in the space, its own position can be marked on the environmental image, thus obtaining the parking space's location (i.e., the second location). For instance, Simultaneous Localization and Mapping (SLAM) technology can be used to construct the environmental map during the vehicle's parking process and mark the first and second locations. Understandably, during the environmental map construction process, if a vehicle parks in a space close to the exit gate, the exit gate will be visible in the image captured by the vehicle's camera due to its proximity. Therefore, the location of the exit gate will also be marked on the environmental map. In other words, the first location can be one location or two locations, corresponding to the entrance and exit gates respectively. After the environmental map is constructed, the first and second locations marked on the map are retrieved and stored in a target storage path for later retrieval when the vehicle leaves the parking space.

[0045] Therefore, in this embodiment, when obtaining the parking space location of the vehicle and the gate location of the parking lot corresponding to the parking space, a first location can be obtained from the target storage path as the gate location, and a second location can be obtained as the parking space location.

[0046] As an example, each time a vehicle starts, it can be detected whether the vehicle is currently in the parking lot. If so, the first location is obtained from the target storage path as the gate location, and the second location is obtained as the parking space location.

[0047] As another example, execution conditions for obtaining the gate location and parking space location can be preset. Only when the execution conditions are met will the first location be obtained from the target storage path as the gate location and the second location as the parking space location. For example, the execution conditions can include, but are not limited to, at least one of the following: the vehicle's automatic parking function is enabled, or the user's intention to park from the gate direction is detected.

[0048] In this embodiment of the disclosure, by constructing an environmental map during the process of a vehicle parking in a parking space, the first location of the parking lot gate and the second location of the parking space in the environmental map are obtained and stored in the target storage path. This realizes the recording of the location information of the gate and the parking space during the process of a vehicle parking in a parking space, and provides data support for recommending the parking direction based on the distance and directional relationship between the gate and the parking space.

[0049] In one optional embodiment of this disclosure, before the electronic device obtains the parking space location of the vehicle and the gate location of the corresponding parking lot, it can first determine whether a preset condition is met. If the preset condition is met, then the steps of obtaining the parking space location of the vehicle and the gate location of the corresponding parking lot are executed, as well as subsequent steps, to achieve the purpose of preventing the vehicle from colliding with the gate when parking out of the parking space. The preset condition can be pre-set according to actual needs, and the preset condition may include, but is not limited to, at least one of the following conditions: Condition 1: The vehicle's automatic parking function is enabled. That is, when the vehicle's automatic parking function is enabled, if the vehicle misaligns with the parking space, the electronic equipment will automatically retrieve the parking space location and the gate location from the target storage path.

[0050] Condition 2: The target gate is identified from the image captured by the vehicle-mounted camera, and the distance between the target gate and the vehicle's current position is not greater than a preset value. Here, the target gate refers to the gate identified in the image. In other words, when a user selects to park their vehicle, the electronic device controls the vehicle-mounted camera to capture images of the surrounding environment and performs gate identification on these images. If a target gate is identified in the environmental image, and the distance between the target gate and the vehicle's current position is not greater than a preset value, the electronic device automatically retrieves the parking space location and gate location from the target storage path. The preset value can be pre-set according to actual needs. The distance between the target gate and the vehicle's current position can be reflected by the area of ​​the target gate in the environmental image and its proportion within the image. For example, when the target gate is located within the target area of ​​the environmental image (the range of the target area can be pre-defined), it can be determined that the distance between the target gate and the vehicle's current position is less than the preset value; similarly, when the proportion of the target gate in the environmental image exceeds a preset proportion threshold, it can be determined that the distance between the target gate and the vehicle's current position is less than the preset value.

[0051] Condition 3: The target gate is identified in the image captured by the vehicle's onboard camera, and the user's intention to park from the direction of the target gate is detected. In other words, when a user selects to park their vehicle, the electronic device controls the onboard camera to capture images of the surrounding environment and performs gate recognition on these images. If the target gate is identified in the environmental image, and the user's intention to park from the direction of the target gate is detected, the electronic device automatically retrieves the parking space location and gate location from the target storage path. For example, when the onboard camera on the left side of the vehicle identifies a gate in the environmental image and detects that the user is turning the steering wheel to the left, it can be determined that the user intends to park from the direction of the gate, and the parking space location and gate location are retrieved from the target storage path.

[0052] In this embodiment of the disclosure, by setting multiple preset conditions, the parking space location of the vehicle and the gate location of the corresponding parking lot are obtained when at least one of the conditions is met. This is used to determine the distance and direction relationship between the parking space and the parking lot gate, so as to avoid the collision risk caused by recommending the vehicle to park from the gate direction when the distance is close. It can realize the distance judgment between the parking space and the gate under different conditions, and improve the safety of the vehicle parking out of the parking space.

[0053] In one optional embodiment of this disclosure, the parking lot turnstiles include an entrance turnstile and an exit turnstile. That is, the entrance and exit turnstiles are two turnstiles located at different positions. Therefore, the determined distance between the parking lot turnstiles and the parking space includes a first distance between the parking space and the entrance turnstile and a second distance between the parking space and the exit turnstile. The determined turnstile directions include a first direction of the entrance turnstile relative to the parking space and a second direction of the exit turnstile relative to the parking space. Thus, in this embodiment, as... Figure 3 As shown, based on the foregoing embodiments, step 103 may include the following sub-steps: Step 201: If the first distance is not less than the second distance, compare the second distance with the preset distance.

[0054] In practical applications, when a parking lot has two gates at different locations—an entrance gate and an exit gate—users typically prefer to exit from the exit gate to leave the parking lot as quickly as possible and reduce detours. Therefore, in this embodiment, after determining the first distance between the entrance gate and the parking space and the second distance between the exit gate and the parking space, the first and second distances can be compared. If the first distance is not less than the second distance, meaning the parking space is closer to the exit gate, the second distance can be compared with a preset distance to determine whether the vehicle can exit from the exit gate (i.e., the second direction).

[0055] In one optional embodiment of this disclosure, if the first distance is less than the second distance, it can be determined that the parking space where the vehicle is located is closer to the entrance gate and farther from the exit gate. In this case, the vehicle will usually not collide with the gate arm when it drives out from the direction of the exit gate. In this case, the vehicle can be controlled to park from the second direction to avoid unnecessary detours when the vehicle leaves the parking lot and improve the user experience.

[0056] Step 202: If the second distance is less than the preset distance, control the vehicle to park from the target direction, which is different from the second direction.

[0057] In this embodiment, when the first distance is not less than the second distance, the second distance is compared with a preset distance. If the second distance is less than the preset distance, the vehicle is controlled to park from the target direction, which is different from the second direction. For example, the target direction can be forward or the first direction.

[0058] In one optional embodiment of this disclosure, if the second distance is not less than a preset distance, it can be determined that the parking space where the vehicle is located is not close to the exit gate, and parking from the direction of the exit gate will not result in a collision. Then, the vehicle is controlled to park from the second direction. Thus, when the vehicle is not parked in a parking space near the exit gate, the vehicle is controlled to prioritize parking from the direction of the exit gate, avoiding unnecessary detours when the vehicle leaves the parking lot and improving the user experience.

[0059] The parking method of this disclosure, when the parking lot gates include entrance gates and exit gates, first compares a first distance between the parking space and the entrance gate and a second distance between the parking space and the exit gate. If the first distance is not less than the second distance, the second distance is compared with a preset distance. If the second distance is less than the preset distance, the vehicle is controlled to exit from a target direction different from the second direction. Thus, when the vehicle exits from a parking space closer to the exit gate, it can avoid exiting from the direction of the exit gate, preventing the vehicle from colliding with the gate arm of the exit gate and ensuring vehicle safety.

[0060] In one alternative embodiment of this disclosure, such as Figure 4 As shown, in Figure 1 Based on the illustrated embodiment, step 103 may include the following sub-steps: Step 301: If the distance is less than a preset distance, determine the candidate berthing direction. The candidate berthing direction does not include the gate direction.

[0061] In this embodiment, when the distance between the parking space where the vehicle is located and the gate of the parking lot is less than a preset distance, a candidate parking exit direction can be determined first based on the determined gate direction. The candidate parking exit direction is the direction recommended for the user to park out of the parking space. Since the parking space is close to the gate of the parking lot, the candidate parking exit direction does not include the gate direction, that is, parking out in the gate direction is not recommended to the user.

[0062] Step 302: Display the candidate parking directions to the user via the vehicle-mounted display screen.

[0063] Step 303: Receive the target direction determined by the user through the vehicle display screen. The target direction is one of the candidate parking directions.

[0064] In this embodiment, after determining the candidate parking directions, the candidate parking directions can be displayed on the vehicle display screen to show the candidate parking directions to the user so that the user can select the desired parking direction from the candidate parking directions as needed. After the user selects a parking direction (for ease of description and distinction, it is called the target direction) from the vehicle display screen, the electronic device can receive the target direction determined by the user.

[0065] Step 304: Control the vehicle to park from the target direction.

[0066] In this embodiment, after receiving the target direction selected by the user, the electronic device can control the vehicle to park out of the parking space from the target direction. Specifically, the control can be based on the vehicle's posture and the user-selected target direction to guide the vehicle out of the parking space.

[0067] The parking method of this disclosure determines candidate parking directions when the distance is less than a preset distance. The candidate parking directions do not include the gate direction. The candidate parking directions are displayed to the user through the vehicle display screen. The system receives the target direction determined by the user through the vehicle display screen and then controls the vehicle to park from the target direction. Thus, it can prevent the vehicle from parking from the gate direction while allowing the user to choose a suitable parking direction according to their own habits, thereby improving personalization.

[0068] In one optional embodiment of this disclosure, after determining that the distance between the parking space and the gate of the parking lot is less than a preset distance, a prompt message can be generated based on the direction of the gate. The prompt message is used to remind the user that it is not recommended to park from the side of the gate, and the prompt message is broadcast to remind the user.

[0069] For example, assuming the determined gate direction is left, a prompt message such as "There is a gate on the left, it is not recommended to park from this side" or "There are gates around, it is not recommended to park from the left" can be generated and the prompt message can be read aloud.

[0070] In this embodiment of the disclosure, after determining that the distance is less than a preset distance, a prompt message is generated based on the gate direction to remind the user that it is not recommended to park from the gate direction, and the prompt message is broadcast by voice. This reduces the process for the user to judge the parking direction again, making it more convenient for the user and improving the user experience. Furthermore, by broadcasting the prompt message by voice, a voice broadcast function is added, which improves the interactivity between the user and the vehicle.

[0071] Figure 5 A schematic flowchart of a parking method according to a specific embodiment of this disclosure is shown, as follows: Figure 5 As shown, when the user activates the automatic parking function (or only the automatic parking exit function), the electronic device integrating this solution first needs to determine whether the distance between the current vehicle's location and the gate's location is less than a preset distance, that is, whether the vehicle is located in a parking space next to the gate. If the distance is less than the preset distance, it is determined that the vehicle is located next to the gate, and the direction of the gate is not recommended as the vehicle's parking exit direction; if the distance is not less than the preset distance, the vehicle's parking exit direction is recommended according to the original rules, and the direction of the gate can be recommended as the vehicle's parking exit direction.

[0072] To implement the above embodiments, this disclosure also provides a parking device, which can be implemented in software and / or hardware and can be integrated into an electronic device that can be integrated into a vehicle.

[0073] Figure 6 This is a schematic diagram of the structure of a parking device provided in an embodiment of the present disclosure, as shown below. Figure 6 As shown, the parking device 40 may include: an acquisition module 410, a determination module 420, and a control module 430.

[0074] The acquisition module 410 is used to acquire the location of the parking space where the vehicle is located and the location of the gate in the parking lot corresponding to the parking space. The determination module 420 is used to determine the distance between the parking space and the parking lot gate, as well as the gate direction relative to the parking space, based on the parking space location and the gate location. The control module 430 is used to control the vehicle to park from the target direction when the distance is less than a preset distance. The target direction is different from the gate direction.

[0075] Optionally, the parking device 40 further includes: The mapping module is used to build an environmental map based on environmental information during the process of a vehicle parking in a parking space; The location reading module is used to obtain the first location of the parking lot gate in the environment map, and the second location of the vehicle entering the parking space in the environment map; The storage module is used to store the first location and the second location to the target storage path; The acquisition module 410 is also used to: acquire a first location from the target storage path as the gate location, and acquire a second location as the parking space location; Optionally, the parking device 40 further includes: The condition determination module is used to determine whether preset conditions are met. The preset conditions include at least one of the following conditions: The vehicle's automatic parking function is activated; The target gate is identified from the image captured by the vehicle camera, and the distance between the target gate and the current position of the vehicle is no greater than a preset value; The target gate was identified from the images captured by the vehicle's camera, and the user's intention to exit from the direction of the target gate was detected.

[0076] Optionally, the turnstile includes an entrance turnstile and an exit turnstile; the distance includes a first distance between the parking space and the entrance turnstile and a second distance between the parking space and the exit turnstile; the turnstile direction includes a first direction of the entrance turnstile relative to the parking space and a second direction of the exit turnstile relative to the parking space; the control module 430 is also used for: If the first distance is not less than the second distance, compare the second distance with the preset distance; If the second distance is less than the preset distance, control the vehicle to park from the target direction, which is different from the second direction.

[0077] Further optionally, the control module 430 is also used for: If the first distance is less than the second distance or the second distance is not less than the preset distance, control the vehicle to park from the second direction.

[0078] Optionally, the control module 430 includes: The determining unit is used to determine the candidate berthing direction when the distance is less than a preset distance. The candidate berthing direction does not include the gate direction. The display unit is used to show the candidate parking directions to the user via an in-vehicle display screen; The receiving unit is used to receive the target direction determined by the user through the vehicle display screen, where the target direction is one of the candidate parking directions. The control unit is used to control the vehicle to park from the target direction.

[0079] Optionally, the parking device 40 further includes: The message generation module is used to generate a prompt message based on the gate direction when the distance is less than a preset distance. The prompt message is used to remind the user that it is not recommended to park from the gate direction. The broadcast module is used to broadcast prompts via voice.

[0080] The parking device provided in this disclosure, applicable to electronic devices, can execute the parking method provided in this disclosure, and has the corresponding functional modules and beneficial effects for executing the method. Content not described in detail in the device embodiments of this disclosure can be referred to the description in any method embodiment of this disclosure.

[0081] This disclosure also provides an electronic device, including a processor and a memory; the processor executes the steps of the parking method embodiments described above by calling programs or instructions stored in the memory. To avoid repetition, these steps will not be repeated here.

[0082] This disclosure also provides a computer-readable storage medium that is non-transitory and stores a program or instructions that cause a computer to perform the steps of the parking method embodiments described above. To avoid repetition, these steps will not be repeated here.

[0083] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the aforementioned parking method embodiments.

[0084] This disclosure also provides a vehicle including a parking device as described in the foregoing embodiments, or an electronic device as described in the foregoing embodiments, or a computer-readable storage medium as described in the foregoing embodiments, or a computer program product as described in the foregoing embodiments.

[0085] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0086] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A parking method, characterized in that, The method includes: Obtain the location of the parking space where the vehicle is located and the location of the gate in the parking lot corresponding to the parking space; Based on the parking space location and the gate location, determine the distance between the parking space and the gate of the parking lot, as well as the gate direction of the gate relative to the parking space; If the distance is less than a preset distance, the vehicle is controlled to park from the target direction, which is different from the direction of the gate.

2. The method according to claim 1, characterized in that, The method further includes: An environmental map is constructed based on the environmental information during the process of the vehicle parking in the parking space; Obtain the first location of the parking lot gate in the environmental map; Obtain the second location of the vehicle in the parking space in the environmental map; Store the first location and the second location to the target storage path; The step of obtaining the location of the parking space where the vehicle is located and the location of the gate in the parking lot corresponding to the parking space includes: The first location is obtained from the target storage path as the gate location, and the second location is obtained as the parking space location.

3. The method according to claim 1, characterized in that, Before obtaining the location of the parking space where the vehicle is located and the location of the gate in the parking lot corresponding to the parking space, the method further includes: It is confirmed that the preset conditions are met; The preset conditions include at least one of the following conditions: The vehicle's automatic parking function is activated; The target gate is identified from the image captured by the vehicle-mounted camera, and the distance between the target gate and the current position of the vehicle is not greater than a preset value; The target gate was identified from the images captured by the vehicle-mounted camera, and it was detected that the user intended to exit from the direction of the target gate.

4. The method according to claim 1, characterized in that, The turnstile includes an entrance turnstile and an exit turnstile. The distance includes a first distance between the parking space and the entrance turnstile and a second distance between the parking space and the exit turnstile. The turnstile direction includes a first direction of the entrance turnstile relative to the parking space and a second direction of the exit turnstile relative to the parking space. When the distance is less than a preset distance, controlling the vehicle to park from the target direction includes: If the first distance is not less than the second distance, the second distance is compared with the preset distance; If the second distance is less than the preset distance, the vehicle is controlled to park from the target direction, which is different from the second direction.

5. The method according to claim 4, characterized in that, The method further includes: If the first distance is less than the second distance or the second distance is not less than the preset distance, the vehicle is controlled to park from the second direction.

6. The method according to claim 1, characterized in that, When the distance is less than a preset distance, controlling the vehicle to park from the target direction includes: If the distance is less than the preset distance, a candidate berthing direction is determined, wherein the candidate berthing direction does not include the gate direction; The candidate parking directions are displayed to the user via the vehicle-mounted display screen. Receive the target direction determined by the user through the vehicle display screen, where the target direction is one of the candidate parking directions; Control the vehicle to park from the target direction.

7. The method according to claim 1, characterized in that, If the distance is less than the preset distance, the method further includes: A prompt message is generated based on the direction of the gate, and the prompt message is used to remind the user that it is not recommended to exit from the side of the gate direction. The prompt message will be read aloud.

8. A parking device, characterized in that, include: The acquisition module is used to acquire the location of the parking space where the vehicle is located and the location of the gate of the parking lot corresponding to the parking space; The determining module is used to determine the distance between the parking space and the gate of the parking lot, as well as the gate direction of the gate relative to the parking space, based on the parking space location and the gate location. The control module is used to control the vehicle to park from a target direction when the distance is less than a preset distance, the target direction being different from the gate direction.

9. An electronic device, characterized in that, include: Processor and memory; The processor executes the parking method as described in any one of claims 1 to 7 by calling programs or instructions stored in the memory.

10. A vehicle, characterized in that, This includes the parking device as described in claim 8, or the electronic device as described in claim 9.

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