Parking control method and device and vehicle

Abstract

The embodiment of the invention relates to the technical field of vehicles, and discloses a parking control method and device and a vehicle, and the method comprises the steps: detecting a to-be-parked target parking space, and judging whether the vehicle meets a first preset condition, the first preset condition is determined based on a vehicle state, environment information and / or a function activation state corresponding to a first parking mode, a first parking track constructed by the first parking mode comprises rotation; and when the vehicle meets the first preset condition, the vehicle is controlled to start a first parking mode to be parked in the target parking space. By applying the technical scheme of the invention, the defect of parking failure or insufficient intelligence in a complex scene can be avoided.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, specifically to a parking control method, device, and vehicle. Background Technology

[0002] With the acceleration of urbanization, parking spaces are becoming increasingly scarce. Currently, automatic parking systems are still limited by the minimum turning radius of vehicles, making it difficult to successfully park in extremely narrow spaces or confined areas.

[0003] Currently, when a vehicle cannot be parked, it often leads to parking failure and system crash, or requires manual intervention from the user. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention provide a parking control method, device, and vehicle to solve the technical problems of parking failure or insufficient intelligence in complex scenarios in the prior art.

[0005] According to one aspect of the present invention, a parking control method is provided, applied to a vehicle equipped with a distributed electric drive system, the method comprising:

[0006] Detect the target parking space to be parked in;

[0007] Determine whether the vehicle meets the first preset condition. The first preset condition is determined based on the vehicle status, environmental information, and / or the function activation status corresponding to the first parking mode. The first parking trajectory constructed by the first parking mode includes rotation.

[0008] When the vehicle meets the first preset condition, the vehicle is controlled to activate the first parking mode and park in the target parking space.

[0009] According to another aspect of the present invention, a parking control device is provided, applied to a vehicle equipped with a distributed electric drive system, the device comprising:

[0010] The detection module is used to detect the target parking space to be parked in;

[0011] The judgment module is used to determine whether the vehicle meets the first preset condition. The first preset condition is determined based on the vehicle status, environmental information, and / or the function activation status corresponding to the first parking mode. The first parking trajectory constructed by the first parking mode includes rotation.

[0012] The control module is used to control the vehicle to use a first parking mode and park in the target parking space when the vehicle meets the first preset condition.

[0013] According to another aspect of the present invention, a vehicle is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus;

[0014] The memory is used to store at least one executable instruction that causes the processor to perform the operation of the parking control method described above.

[0015] According to another aspect of the present invention, a computer-readable storage medium is provided, the storage medium storing at least one executable instruction that causes a parking control device / vehicle to perform the operation of the parking control method described above.

[0016] According to another aspect of the present invention, a computer program product is provided, including a computer program that, when executed by a processor, causes a parking control device / vehicle to perform the operation of the above-described method.

[0017] This invention, through the detection of a target parking space, determines whether a vehicle meets a first preset condition. This first preset condition is determined based on vehicle status, environmental information, and / or the activation state of a function corresponding to a first parking mode. The first parking trajectory constructed by the first parking mode includes rotation. When the vehicle meets the first preset condition, the system controls the vehicle to use the first parking mode to park in the target parking space. This solution introduces a first preset condition based on multi-dimensional real-time information (vehicle status, environmental information, and function activation state) as a decision threshold. This allows the vehicle to automatically and accurately determine whether a high-degree-of-freedom rotating parking mode, i.e., the first parking mode, is suitable after detecting a target parking space. This enables successful parking in extremely narrow scenarios where conventional parking modes are insufficient, by using the rotating trajectory. Simultaneously, in conventional scenarios or when the vehicle status is unsuitable, the first parking mode is avoided, effectively preventing energy waste and mechanical wear.

[0018] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0019] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0020] Figure 1This diagram illustrates the human-machine interface (HMI) interaction of a standard parking function (APA).

[0021] Figure 2 The flowchart illustrating the execution process of a standard parking function is shown.

[0022] Figure 3 A schematic diagram of a parking space that is inaccessible by conventional parking is shown;

[0023] Figure 4 A flowchart of the first embodiment of the parking control method provided by the present invention is shown;

[0024] Figure 5 A flowchart of a second embodiment of the parking control method provided by the present invention is shown;

[0025] Figure 6 Two schematic diagrams of the first parking trajectory are shown;

[0026] Figure 7 A flowchart of a third embodiment of the parking control method provided by the present invention is shown;

[0027] Figure 8 A flowchart of a fourth embodiment of the parking control method provided by the present invention is shown;

[0028] Figure 9 The HMI interaction diagram provided by this invention is shown below. Figure 1 ;

[0029] Figure 10 A flowchart of the fifth embodiment of the parking control method provided by the present invention is shown;

[0030] Figure 11 The HMI interaction diagram provided by this invention is shown below. Figure 2 ;

[0031] Figure 12 A schematic diagram of an embodiment of the parking control device provided by the present invention is shown;

[0032] Figure 13 A structural schematic diagram of an embodiment of the vehicle provided by the present invention is shown. Detailed Implementation

[0033] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0034] Distributed Electric Propulsion (DEP) involves directly mounting the electric motor onto each drive wheel of a vehicle, eliminating the need for traditional drive shafts, differentials, and other mechanical structures. It offers advantages such as high power density, compact structure, and fast response. In recent years, academia and industry have recognized it as one of the core technologies for improving vehicle dynamic performance and intelligence.

[0035] With the rapid pace of urbanization and the increasing scarcity of parking spaces, current automatic parking systems are still limited by the vehicle's minimum turning radius, making it difficult to park in extremely narrow spaces or confined areas. In recent years, the maturity of distributed electric drive technology (i.e., each wheel is equipped with an independent motor) has enabled vehicles to achieve a "zero turning radius" or even a stationary rotation mode, thereby significantly reducing the lateral space required for parking.

[0036] Common parking planning algorithms are based on the monorail / Ackerman model and are suitable for conventional vertical / horizontal / incline parking spaces.

[0037] Figure 1 A schematic diagram of a typical APA HMI interaction is shown, such as... Figure 1 As shown, after a parking space is identified, a forward or backward curved trajectory will be generated.

[0038] In the blue area, the vehicle is displayed after it has been parked in the target parking space.

[0039] For example, the parking process is as follows: Figure 2 As shown, Figure 2 The flowchart illustrating the execution process of a typical parking function is shown, such as... Figure 2 As shown, the execution flow includes:

[0040] Step 21: Parking space search;

[0041] Step 22: Are there any available parking spaces? If yes, proceed to step 23; if no, proceed to step 21.

[0042] Step 23: Select a parking space; then proceed to steps 24 and 25.

[0043] Step 24: Display parking trajectory;

[0044] Step 25: Select parking method: Start parking (person inside the car), or park away from the car, or remote parking (person outside the car).

[0045] In the above implementation, since the required passage space for vehicle parking is limited by the vehicle's turning radius, parking efficiency will decrease for vehicles in narrow spaces or with large body size, and the space requirements for parking will be higher. In some scenarios, effective parking cannot be achieved.

[0046] like, Figure 3 This diagram illustrates a parking space scenario that is inaccessible by conventional parking, such as... Figure 3 As shown, Figure 3 A vertical dead-end road scenario is shown in section a; Figure 3 Part b shows a scenario of a horizontal dead-end road; Figure 3 Section c shows a scene of a narrow passageway space.

[0047] Green represents the currently parked vehicle; orange represents parked or obstructed vehicles.

[0048] In the above scenarios, the vehicle needs to turn around to complete the rear parking, or it may even report insufficient space and fail to park. In this case, the user needs to intervene to find a new parking space or frequently move the vehicle to enter the parking space, which seriously reduces the user's driving experience and the vehicle's intelligence level.

[0049] Based on the above-mentioned technical problems, the technical concept of this invention is as follows: Addressing the issues of existing automatic parking systems failing to park, getting stuck, or requiring manual intervention in extremely narrow or complex parking space scenarios due to their simplistic planning algorithms and inability to dynamically adapt to environmental changes, this invention can autonomously determine whether the conditions for activating the four-wheel drive-based rotary parking mode (i.e., the first parking mode) are met by real-time detection of vehicle status, environmental information, and function activation status. If met, the system switches to this mode to generate a first parking trajectory containing rotational motion. During execution, the trajectory parameters can be dynamically adjusted in real-time according to vehicle posture and environmental changes, thereby achieving reliable and adaptive parking in extremely small spaces, improving the system's scenario coverage, success rate, and user experience.

[0050] Based on the above technical concept, the technical solution of the present invention will be described in detail through specific embodiments. The subject of the present invention is a vehicle.

[0051] It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0052] Figure 4 A flowchart of a first embodiment of the parking control method provided by the present invention is shown, which is executed by a vehicle equipped with a distributed electric drive (i.e., a vehicle capable of rotating in place). Figure 4 As shown, the method includes the following steps:

[0053] Step 41: Detect the target parking space to be parked in;

[0054] In this step, onboard sensors (such as ultrasonic radar, cameras, surround view systems, etc.) are used to collect real-time information about the vehicle's surrounding environment, identify and filter available parking spaces that meet the parking conditions.

[0055] Furthermore, by combining the preset parking space size threshold with the vehicle's own size, it is determined whether the vacant parking space can be the target parking space for the vehicle to be parked.

[0056] Step 42: Determine whether the vehicle meets the first preset condition;

[0057] The first preset condition is determined based on the vehicle status, environmental information, and / or the function activation status corresponding to the first parking mode. The first parking trajectory constructed by the first parking mode includes rotation.

[0058] In this step, in order to ensure that the vehicle can dynamically select the optimal parking strategy based on real-time vehicle conditions and environment, it is first determined whether the vehicle meets the first preset condition.

[0059] The first preset condition is determined based on at least one of the vehicle status, environmental information, and the functional activation status of the first parking mode; wherein, the environmental information includes: the current vehicle, the target parking space, and data collected by on-board sensors, electronic maps, and other devices within a preset range between the current vehicle and the target parking space.

[0060] For example, the first parking trajectory constructed by the first parking mode includes rotation, and may also include straight lines and / or circular arcs, that is: rotation corresponds to the vehicle's four-wheel independent drive realizing the vehicle's rotation in place; straight lines correspond to the vehicle moving forward or backward parallel to the vehicle body; circular arcs correspond to the vehicle moving forward or backward not parallel to the vehicle body.

[0061] For example, the first parking trajectory is rotation, straight line + rotation, arc + rotation, or straight line + arc + rotation.

[0062] Optionally, the first preset condition includes at least one of the following:

[0063] 1) The vehicle status indicator shows that the remaining battery charge (SOC) is greater than the first preset threshold;

[0064] In this implementation, the vehicle status indicator SOC is greater than a first preset threshold, which can ensure that the vehicle has sufficient energy reserves when performing high-power demand actions such as stationary rotation, and avoid parking interruption or system abnormality due to insufficient power.

[0065] If the SOC is not greater than the first preset threshold, the rotating parking function corresponding to the first parking mode will be forcibly disabled, and the second parking mode will be used instead, or the user will be prompted to charge.

[0066] 2) The function activation status indicator shows that the function of constructing the first parking trajectory in the first parking mode has been enabled;

[0067] In this implementation, the function activation status indicates that the function of constructing the first parking trajectory in the first parking mode has been enabled. This means that the user has actively selected the rotary parking function corresponding to the first parking mode through the HMI or the corresponding hardware activation, indicating that the user or the vehicle system itself intends to use the rotary parking strategy. At this time, the first parking mode will be called first for trajectory planning. Even if the environment may allow parking in the second parking mode, the high-priority mode selected by the user or recommended by the system will still be used as the basis for execution.

[0068] For example, the method also performs the following: in response to a user activating the parking function of a first parking mode on the vehicle, determining that parking based on the first parking mode has a higher priority than parking based on a second parking mode.

[0069] In this implementation, in response to the user's active activation of the first parking mode on the vehicle, it is determined that the user has activated the first parking mode. At this time, it is determined that the parking priority based on the first parking mode is higher than the parking priority based on the second parking mode. This means that when the user actively selects to enable the Fangcun Parking function through the HMI (Human-Machine Interface), the system will prioritize using the rotating parking model for path planning and parking operations.

[0070] 3) Environmental information indicates the presence of obstacles in the second parking trajectory constructed based on the second parking mode;

[0071] In this implementation, the environmental information indicates that static or dynamic obstacles (such as other vehicles, pedestrians, cones, etc.) are detected in the second parking trajectory constructed based on the second parking mode, and can predict whether the predicted trajectory of the obstacle conflicts with the second parking trajectory based on the movement information of the obstacle.

[0072] At this point, the safety or feasibility of the second parking mode decreases, so the system can automatically switch to the first parking mode. By rotating and adjusting the vehicle's position, it can avoid obstacle areas and achieve successful parking in complex environments.

[0073] 4) The environmental information indication failed to successfully construct the second parking trajectory based on the second parking mode.

[0074] In this implementation, the environmental information indicates that the second parking trajectory cannot be successfully constructed based on the second parking mode. That is, in scenarios such as extremely narrow parking spaces, unconventional parking space postures, or dead-end roads, the Ackerman model corresponding to the second parking mode cannot generate an effective parking path due to the limitation of the minimum turning radius.

[0075] At this point, the vehicle determines that the second parking mode is not feasible and triggers the planning algorithm of the first parking mode. It uses the in-situ rotation capability of the distributed electric drive to reconstruct the first parking trajectory containing rotational motion, thereby expanding the scenario coverage and successful parking capability of automatic parking.

[0076] For example, failure to construct the second parking trajectory may also occur when: the time taken to construct the second parking trajectory is longer than the first preset time; or the number of parking actions in the constructed second parking trajectory is greater than the first preset number (e.g., the sum of each execution step, such as moving forward, moving backward, or turning the steering wheel, is greater than 10 times).

[0077] Step 43: When the vehicle meets the first preset condition, control the vehicle to activate the first parking mode and park in the target parking space.

[0078] In this step, once the vehicle meets the first preset conditions, the vehicle will activate the first parking mode (e.g., parking with tire rotation) to park.

[0079] In this first parking mode, the vehicle uses distributed electric drive to achieve independent four-wheel drive, and quickly adjusts the vehicle's direction by rotating in place or a combination of swinging and rotating motions to align the vehicle with the parking space entrance, and then drives directly into the space within a very small lateral space.

[0080] Furthermore, after step 42, the following can also be performed: when the vehicle does not meet the first preset condition, control the vehicle to use the second parking mode to park in the target parking space, wherein the second parking trajectory constructed by the second parking mode does not include rotation.

[0081] In this implementation, if the vehicle does not meet the first preset condition, the vehicle will use the second parking mode (i.e., the normal parking mode) to park in the target parking space.

[0082] In this second parking mode, a parking planning algorithm based on the Ackerman or monorail model is used. The constructed second parking trajectory is composed of straight line segments and circular arc segments, and does not include in-situ rotation or swing rotation.

[0083] For example, the second parking trajectory constructed by the second parking mode does not include rotation and may include straight lines and / or arcs, that is: straight lines correspond to the vehicle moving forward or backward parallel to the vehicle body; arcs correspond to the vehicle moving forward or backward not parallel to the vehicle body.

[0084] For example, the second parking trajectory can be a straight line, an arc, or a straight line plus an arc.

[0085] Optionally, the parking control can also perform:

[0086] Step 1: In response to the user activating the parking function of the first parking mode on the vehicle, determine whether the first parking trajectory into the target parking space has been determined based on the first parking mode.

[0087] In this implementation, icons and buttons for using the first parking mode are set on the vehicle (such as the Fangcun parking function icon). After the user activates the first parking mode, it is first determined whether a feasible parking trajectory can be planned in the first parking mode, that is, the first parking trajectory.

[0088] The first parking trajectory combines in-situ rotation or a combination of oscillation and rotation motion modes of distributed electric drive. Essentially, it is a feasibility assessment of generating the first parking trajectory based on the first parking mode.

[0089] Step 2: If the first parking trajectory is determined, control the vehicle to park in the target parking space based on the first parking trajectory.

[0090] In this implementation, if the first parking trajectory can be successfully generated, the vehicle is directly controlled to perform parking actions according to the first wave of trajectory, so as to achieve fast and accurate parking into the target parking space.

[0091] In addition, if the user does not activate the parking function of the first parking mode on the vehicle, the second parking mode will be used to control the vehicle to park in the target parking space.

[0092] In this implementation, if the user does not actively activate the first parking mode, the vehicle defaults to the second parking mode (i.e., the regular parking mode). In this second parking mode, trajectory planning is performed based on a monorail or Ackerman motion model to generate a straight-line-circular arc combination trajectory suitable for ordinary parking spaces, and the vehicle is controlled to complete parking along this second parking trajectory to park in the target parking space.

[0093] The parking control method provided in this invention detects the target parking space and determines whether the vehicle meets a first preset condition. The first preset condition is determined based on the vehicle status, environmental information, and / or the functional activation state corresponding to a first parking mode. The first parking trajectory constructed by the first parking mode includes rotation. When the vehicle meets the first preset condition, the method controls the vehicle to use the first parking mode to park in the target parking space. This solution introduces a first preset condition based on multi-dimensional real-time information (vehicle status, environmental information, and functional activation state) as a decision threshold, enabling the vehicle to automatically and accurately determine whether a high-degree-of-freedom rotating parking mode, i.e., the first parking mode, is applicable after detecting the target parking space. This allows the vehicle to successfully park in extremely narrow scenarios where conventional parking modes are not feasible by using the rotating trajectory. At the same time, the first parking mode is avoided in conventional scenarios or when the vehicle status is unsuitable, effectively preventing energy waste and mechanical wear.

[0094] Based on the above embodiments, Figure 5 A flowchart of a second embodiment of the parking control method provided by the present invention is shown, which is executed by a vehicle. Figure 5As shown, step 43, controlling the vehicle to activate the first parking mode and park in the target parking space, may include the following steps:

[0095] Step 51: Based on the environmental information and the target parking space, construct the first parking trajectory using the first parking mode;

[0096] In this step, after determining that the first parking mode is enabled, the first parking trajectory is constructed by calling the rotational parking planning algorithm based on the current environmental information and the attitude and position of the target parking space.

[0097] In one possible implementation, the location, size, attitude, and environmental information (such as the distribution and movement of surrounding obstacles) of the target parking space are obtained through an environmental perception module (e.g., surround view camera, ultrasonic radar, lidar). Combined with the vehicle's own size and dynamic parameters, the first parking mode is invoked. Based on the kinematic model of the distributed electric drive, a segment of stationary rotation motion with the vehicle center or a specified wheel center as the rotation center is inserted on the basis of the straight line + arc trajectory, thereby generating the first parking trajectory composed of a combination of straight line-rotation-straight line, or swing-rotation-circular arc, etc.

[0098] Step 52: Based on the first parking trajectory, control the vehicle to park in the target parking space.

[0099] In this step, after generating the first parking trajectory, the vehicle is controlled to perform a parking operation based on the first parking trajectory. The vehicle uses a distributed electric drive system to independently distribute torque and coordinate steering to each drive wheel, thereby achieving trajectory tracking control.

[0100] Optionally, one possible implementation of step 52 is:

[0101] Step 1: Real-time detection of the vehicle's current body posture;

[0102] In this implementation, during the parking process of the vehicle in the first parking mode, the vehicle's current position, heading angle, yaw rate and wheel angle are continuously monitored in real time by on-board sensors (such as wheel speed sensors, IMU inertial measurement units, vision / radar positioning systems, etc.) to obtain accurate current vehicle attitude information.

[0103] Step 2: If the current vehicle posture deviates from the first parking trajectory from the second preset threshold;

[0104] In this implementation, the deviation between the current vehicle posture and the planned first parking trajectory will be calculated in real time (e.g., position deviation, heading angle deviation, etc.). If the deviation exceeds the second preset threshold (this threshold can be set according to control accuracy, safety margin and system fault tolerance), it is determined that the vehicle has deviated from the original planned trajectory to a degree that may affect the success or safety of parking.

[0105] The causes of deviations may include: wheel slippage caused by changes in the ground friction coefficient, accumulation of sensor errors, or environmental obstacles that require the driver or system to intervene to avoid them.

[0106] This triggers the trajectory update mechanism.

[0107] Step 3: Update the first parking trajectory based on the current vehicle posture.

[0108] In this implementation, after detecting a trajectory deviation greater than the second preset threshold, the first parking trajectory is replanned or partially adjusted based on the current vehicle posture, environmental information, and target parking space.

[0109] The updated trajectory retains the characteristics of the rotating parking mode (i.e., it may include rotating segments), but it will dynamically correct the rotation center, rotation angle, and entry path to ensure that the vehicle can smoothly and safely return to the parking target state from its current position.

[0110] For example, Figure 6 Two schematic diagrams of the first parking trajectory are shown, such as Figure 6 As shown, the left side depicts a dead-end road scene, while the right side shows a narrow passageway scene.

[0111] On the left or in the implementation, the first parking trajectory is an arc plus rotation, which can be displayed in real time on the vehicle or terminal's interactive interface.

[0112] The parking control method provided in this invention constructs a first parking trajectory based on environmental information and the target parking space using a first parking mode; and controls the vehicle to park in the target parking space according to the first parking trajectory. In this scheme, by dynamically deciding and activating the first parking mode based on environmental information and the target parking space, a more flexible and compact first parking trajectory can be adaptively generated when conventional parking trajectory planning fails or is too inefficient. This allows the vehicle to quickly align with and park in the parking space by rotating in place or a combination of swinging and rotating, significantly reducing the lateral space requirement for parking and enabling the vehicle to successfully complete automatic parking in extremely narrow parking spaces or complex scenarios. Simultaneously, real-time trajectory monitoring and dynamic adjustment avoid parking jams or failures caused by sudden environmental changes or control deviations, thereby improving the parking system's scenario adaptability, success rate, and overall intelligence level, and reducing the need for user intervention.

[0113] Based on the above embodiments, Figure 7 A flowchart of a third embodiment of the parking control method provided by the present invention is shown, which is executed by a vehicle. Figure 7 As shown, controlling the vehicle to activate the corresponding parking mode (first parking mode or second parking mode) and park in the target parking space may include the following steps:

[0114] Step 71: Display the parking trajectory constructed by the corresponding parking mode in the interactive interface of the vehicle or terminal;

[0115] In this step, the parking trajectory corresponding to the currently selected parking mode is displayed in real time on the vehicle's central control screen or the user terminal (e.g., a mobile app).

[0116] If the current parking mode is the first parking mode, the trajectory curve containing the rotation segment will be displayed, and the rotation area will be marked with animation or highlighting in the interactive interface.

[0117] If the second parking mode is selected, a regular straight-line-circular trajectory will be displayed. The interactive interface can also overlay parking space boundaries, obstacle outlines, and safety distance prompts to help users intuitively understand the relationship between the planned path and the surrounding environment.

[0118] Step 72: In response to the user's selection operation on the interactive interface, determine whether the vehicle parking method is immediate parking or off-vehicle parking.

[0119] In this step, in response to the user's selection on the interactive interface, the parking method is determined as either immediate parking or off-vehicle parking (remote or automatic).

[0120] Users can select any of the following options in the trajectory display interface via touch buttons or voice commands:

[0121] 1) If "Park Now" is selected, the user stays in the car and the vehicle is automatically parked; 2) If "Park Away" is selected, the user can get out of the car in advance and remotely trigger parking through the terminal, and the vehicle will automatically park itself without the user's presence.

[0122] Step 73: After detecting an immediate parking or off-vehicle parking trigger, control the vehicle to park in the target parking space according to the parking trajectory.

[0123] In this step, upon detecting an immediate parking confirmation command or a remote off-vehicle parking trigger signal, automatic parking control is executed based on the displayed parking trajectory.

[0124] In other words, the vehicle coordinates the torque and steering of each wheel through the chassis domain controller and the distributed drive system based on the planned path corresponding to the selected parking mode to achieve trajectory tracking.

[0125] If it is the first parking mode, the vehicle will be controlled to turn in place or almost in place during the rotation segment; if it is the second parking mode, it will be parked by following the Ackermann model.

[0126] Optionally, during the parking process, the environment and vehicle status can be continuously monitored, and the trajectory can be dynamically adjusted until the vehicle is smoothly parked in the target parking space and automatically engaged in P gear and the power is turned off.

[0127] The parking control method provided in this invention displays a parking trajectory constructed according to the corresponding parking mode on the interactive interface of the vehicle or terminal; responding to the user's selection operation on the interactive interface, it determines whether the vehicle's parking method is immediate parking or off-vehicle parking; after detecting the trigger of immediate parking or off-vehicle parking, it controls the vehicle to park in the target parking space according to the parking trajectory. This solution intuitively displays parking trajectories generated by different parking modes (such as the second parking mode or the first parking mode) on the interactive interface, and allows the user to independently decide whether to use immediate parking or off-vehicle parking, enabling the vehicle to accurately control the vehicle to complete parking according to the selected parking trajectory after receiving the trigger command. This enhances the user's perception and control over the parking process, improving the intuitiveness and user-friendliness of human-computer interaction. Simultaneously, by combining trajectory visualization with user decision-making, it ensures the accurate transmission and execution of parking intentions, and flexibly responds to user preferences in complex or personalized parking scenarios, thereby improving the applicability, reliability, and user experience satisfaction of the automatic parking system.

[0128] Based on the above embodiments, Figure 8 A flowchart of the fourth embodiment of the parking control method provided by the present invention is shown. Figure 9 The HMI interaction diagram provided by this invention is shown below. Figure 1 , combined Figure 9 ,right Figure 8 The execution flow shown is explained below.

[0129] Step 81: Parking space search;

[0130] Step 82: Are there any available parking spaces? If yes, proceed to step 83; if no, proceed to step 81.

[0131] Step 83: Select a parking space ( Figure 9 The blue parking spaces in section d, or Figure 9 (The blue parking spaces in section e).

[0132] Step 84: Is it a regular parking space (is the second parking mode being used)? If yes, proceed to steps 85 and 86; if no, proceed to steps 87 and 88.

[0133] Step 85: Display the second parking trajectory;

[0134] Step 86: Parking method selection; Start parking (person inside the vehicle), or park away from the vehicle, or remote parking (person outside the vehicle);

[0135] Step 87: Select berthing method: Remote berthing; Automatic berthing.

[0136] Step 88: Display the first parking trajectory.

[0137] Based on the above embodiments, Figure 10 A flowchart of the fifth embodiment of the parking control method provided by the present invention is shown. Figure 11 The HMI interaction diagram provided by this invention is shown below. Figure 2 , combined Figure 11 ,right Figure 10 The execution flow shown is explained below.

[0138] Step 101: Parking space search;

[0139] Step 102: Do you select the first parking mode? If yes, proceed to step 103; if no, proceed to step 107.

[0140] Step 103: Enter the first parking mode;

[0141] Step 104: Are there any available parking spaces? Figure 10 If the blue parking space is in section f, proceed to steps 105 and 106; otherwise, proceed to step 103.

[0142] Step 105: Select parking method: Remote parking; Automatic parking;

[0143] Step 106: Display the first parking trajectory; then end.

[0144] Step 107: Are there any available parking spaces? Figure 10 (The blue parking space in part g); if yes, proceed to steps 108 and 109; if no, proceed to step 101;

[0145] Step 108: Parking method selection; Start parking (person inside the vehicle), or park away from the vehicle, or remote parking (person outside the vehicle);

[0146] Step 109: Display the second parking trajectory.

[0147] The parking control method provided in this embodiment of the invention has the following technical effects:

[0148] Technical benefit 1: Minimal space requirement: The vehicle only needs a lateral clearance of about 20cm wider than the vehicle width to complete parking;

[0149] Technical benefit 2: Significantly reduced parking time: Direction correction is completed by rotating in place, eliminating redundant paths of reversing and turning.

[0150] Technical benefit 3: Adaptable to various body structures: Through software-level torque distribution, unified functionality can be achieved in front-wheel drive, rear-wheel drive, or all-wheel drive vehicles.

[0151] Technical benefit 4: Provides multiple parking path options for users to choose from, suitable for different parking scenarios.

[0152] Figure 12 A schematic diagram of an embodiment of the parking control device provided by the present invention is shown. Figure 5 As shown, this device is used in vehicles equipped with distributed electric drives, and the device includes:

[0153] Detection module 121 is used to detect the target parking space to be parked.

[0154] The judgment module 122 is used to determine whether the vehicle meets the first preset condition. The first preset condition is determined based on the vehicle status, environmental information, and / or the function activation status corresponding to the first parking mode. The first parking trajectory constructed by the first parking mode includes rotation.

[0155] The control module 123 is used to control the vehicle to enter the target parking space in the first parking mode when the vehicle meets the first preset conditions.

[0156] In one or more embodiments, the control module 123 is further configured to:

[0157] When the vehicle does not meet the first preset conditions, the vehicle is controlled to use the second parking mode to park in the target parking space. The second parking trajectory constructed by the second parking mode does not include rotation.

[0158] In one or more embodiments, the first preset condition includes at least one of the following:

[0159] The vehicle status indicator shows that the remaining battery charge (SOC) is greater than a first preset threshold.

[0160] The function activation status indicator shows that the function of constructing the first parking trajectory in the first parking mode has been enabled.

[0161] The environmental information indicates the presence of obstacles in the second parking trajectory constructed based on the second parking mode.

[0162] The environmental information indicates that the second parking trajectory could not be successfully constructed based on the second parking mode.

[0163] In one or more embodiments, the control module 123 controls the vehicle to activate a first parking mode and park in the target parking space, specifically for:

[0164] Based on environmental information and the target parking space, the first parking mode is adopted to construct the first parking trajectory;

[0165] Based on the first parking trajectory, control the vehicle to park in the target parking space.

[0166] In one or more embodiments, the control module 123 controls the vehicle to park in the target parking space according to the first parking trajectory, specifically for:

[0167] Real-time detection of the vehicle's current body posture;

[0168] If the current vehicle posture deviates from the trajectory of the first parking trajectory by more than the second preset threshold;

[0169] Update the first parking trajectory based on the current vehicle posture.

[0170] In one or more embodiments, the control module 123 controls the vehicle to activate the corresponding parking mode and park in the target parking space, specifically for:

[0171] Display the parking trajectory constructed by the corresponding parking mode in the interactive interface of the vehicle or terminal;

[0172] In response to the user's selection on the interactive interface, determine whether the vehicle is parked immediately or parked away from the vehicle.

[0173] Upon detecting an immediate parking or off-vehicle parking trigger, the system controls the vehicle to park in the target parking space based on the parking trajectory.

[0174] In one or more embodiments, the control module 123 is further configured to:

[0175] In response to a user activating the parking function of the first parking mode on the vehicle, it is determined that parking based on the first parking mode has a higher priority than parking based on the second parking mode.

[0176] In one or more embodiments, the control module 123 is further configured to:

[0177] In response to the user activating the parking function of the first parking mode on the vehicle, determine whether the first parking trajectory for parking into the target parking space has been determined based on the first parking mode;

[0178] If the first parking trajectory is determined, control the vehicle to park in the target parking space based on the first parking trajectory.

[0179] Correspondingly, control module 123 is also used for:

[0180] If the user has not activated the parking function of the first parking mode on the vehicle, the second parking mode will be used to control the vehicle to park in the target parking space.

[0181] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical element, or they can be physically separated. Furthermore, these modules can be implemented entirely in software through processing element calls, or entirely in hardware. Alternatively, some modules can be implemented through processing element calls in software, while others can be implemented in hardware. Moreover, these modules can be integrated together or implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. During implementation, each step of the above method or each of the above modules can be completed through the integrated logic circuits in the hardware of the processor element or through software instructions.

[0182] As can be seen from the above, the parking control device provided in this embodiment of the invention enables the vehicle to automatically and accurately determine whether a high-degree-of-freedom rotating parking mode, i.e., the first parking mode, is applicable after detecting the target parking space. This allows the vehicle to successfully park in extremely narrow scenarios where the conventional parking mode cannot be used. At the same time, the first parking mode is avoided when the vehicle is in a normal scenario or when the vehicle condition is not suitable, effectively avoiding energy waste and mechanical wear.

[0183] Figure 13 A structural schematic diagram of an embodiment of the vehicle provided by the present invention is shown, as follows. Figure 13 As shown, the vehicle (equipped with a distributed electric drive) may include: a processor 132, a communications interface 134, a memory 136, and a communications bus 138.

[0184] The processor 132, communication interface 134, and memory 136 communicate with each other via communication bus 138. Communication interface 134 is used to communicate with other network elements such as clients or other servers. The processor 132 executes program 130, specifically performing the relevant steps in the above method embodiments.

[0185] Specifically, program 130 may include program code, which includes computer-executable instructions.

[0186] Processor 132 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The vehicle may include one or more processors of the same type, such as one or more CPUs, or processors of different types, such as one or more CPUs and one or more ASICs.

[0187] Memory 136 is used to store program 130. Memory 136 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0188] Specifically, program 130 can be called by processor 132 to cause the vehicle to perform the following operations:

[0189] Detect the target parking space to be parked in;

[0190] Determine whether the vehicle meets the first preset condition. The first preset condition is determined based on the vehicle status, environmental information, and / or the function activation status corresponding to the first parking mode. The first parking trajectory constructed by the first parking mode includes rotation.

[0191] When the vehicle meets the first preset conditions, control the vehicle to activate the first parking mode and park in the target parking space.

[0192] In one or more embodiments, the following is also performed:

[0193] When the vehicle does not meet the first preset conditions, the vehicle is controlled to use the second parking mode to park in the target parking space. The second parking trajectory constructed by the second parking mode does not include rotation.

[0194] In one or more embodiments, the first preset condition includes at least one of the following:

[0195] The vehicle status indicator shows that the remaining battery charge (SOC) is greater than a first preset threshold.

[0196] The function activation status indicator shows that the function of constructing the first parking trajectory in the first parking mode has been enabled.

[0197] The environmental information indicates the presence of obstacles in the second parking trajectory constructed based on the second parking mode.

[0198] The environmental information indicates that the second parking trajectory could not be successfully constructed based on the second parking mode.

[0199] In one or more embodiments, controlling a vehicle to activate a first parking mode and park in a target parking space includes:

[0200] Based on environmental information and the target parking space, the first parking mode is adopted to construct the first parking trajectory;

[0201] Based on the first parking trajectory, control the vehicle to park in the target parking space.

[0202] In one or more embodiments, controlling the vehicle to park in a target parking space according to a first parking trajectory includes:

[0203] Real-time detection of the vehicle's current body posture;

[0204] If the current vehicle posture deviates from the trajectory of the first parking trajectory by more than the second preset threshold;

[0205] Update the first parking trajectory based on the current vehicle posture.

[0206] In one or more embodiments, controlling the vehicle to activate the corresponding parking mode and park in the target parking space includes:

[0207] Display the parking trajectory constructed by the corresponding parking mode in the interactive interface of the vehicle or terminal;

[0208] In response to the user's selection on the interactive interface, determine whether the vehicle is parked immediately or parked away from the vehicle.

[0209] Upon detecting an immediate parking or off-vehicle parking trigger, the system controls the vehicle to park in the target parking space based on the parking trajectory.

[0210] In one or more embodiments, the following is also performed:

[0211] In response to a user activating the parking function of the first parking mode on the vehicle, it is determined that parking based on the first parking mode has a higher priority than parking based on the second parking mode.

[0212] In one or more embodiments, the following is also performed:

[0213] In response to the user activating the parking function of the first parking mode on the vehicle, determine whether the first parking trajectory for parking into the target parking space has been determined based on the first parking mode;

[0214] If the first parking trajectory is determined, control the vehicle to park in the target parking space based on the first parking trajectory.

[0215] Correspondingly, the following is also executed:

[0216] If the user has not activated the parking function of the first parking mode on the vehicle, the second parking mode will be used to control the vehicle to park in the target parking space.

[0217] As can be seen from the above, the vehicle provided by the embodiments of the present invention enables the vehicle to automatically and accurately determine whether a high-degree-of-freedom rotating parking mode, i.e., the first parking mode, is applicable after detecting a target parking space. This allows the vehicle to successfully park in extremely narrow scenarios where conventional parking modes cannot be used. At the same time, the first parking mode is avoided when the vehicle is in a normal scenario or when the vehicle condition is not suitable, effectively avoiding energy waste and mechanical wear.

[0218] This invention provides a computer-readable storage medium storing at least one executable instruction that, when executed on a parking control device / vehicle, causes the parking control device / vehicle to perform the parking control method in any of the above-described method embodiments.

[0219] Specifically, the executable instructions can be used to cause the parking control device / vehicle to perform the following operations:

[0220] Detect the target parking space to be parked in;

[0221] Determine whether the vehicle meets the first preset condition. The first preset condition is determined based on the vehicle status, environmental information, and / or the function activation status corresponding to the first parking mode. The first parking trajectory constructed by the first parking mode includes rotation.

[0222] When the vehicle meets the first preset conditions, control the vehicle to activate the first parking mode and park in the target parking space.

[0223] In one or more embodiments, the following is also performed:

[0224] When the vehicle does not meet the first preset conditions, the vehicle is controlled to use the second parking mode to park in the target parking space. The second parking trajectory constructed by the second parking mode does not include rotation.

[0225] In one or more embodiments, the first preset condition includes at least one of the following:

[0226] The vehicle status indicator shows that the remaining battery charge (SOC) is greater than a first preset threshold.

[0227] The function activation status indicator shows that the function of constructing the first parking trajectory in the first parking mode has been enabled.

[0228] The environmental information indicates the presence of obstacles in the second parking trajectory constructed based on the second parking mode.

[0229] The environmental information indicates that the second parking trajectory could not be successfully constructed based on the second parking mode.

[0230] In one or more embodiments, controlling a vehicle to activate a first parking mode and park in a target parking space includes:

[0231] Based on environmental information and the target parking space, the first parking mode is adopted to construct the first parking trajectory;

[0232] Based on the first parking trajectory, control the vehicle to park in the target parking space.

[0233] In one or more embodiments, controlling the vehicle to park in a target parking space according to a first parking trajectory includes:

[0234] Real-time detection of the vehicle's current body posture;

[0235] If the current vehicle posture deviates from the trajectory of the first parking trajectory by more than the second preset threshold;

[0236] Update the first parking trajectory based on the current vehicle posture.

[0237] In one or more embodiments, controlling the vehicle to activate the corresponding parking mode and park in the target parking space includes:

[0238] Display the parking trajectory constructed by the corresponding parking mode in the interactive interface of the vehicle or terminal;

[0239] In response to the user's selection on the interactive interface, determine whether the vehicle is parked immediately or parked away from the vehicle.

[0240] Upon detecting an immediate parking or off-vehicle parking trigger, the system controls the vehicle to park in the target parking space based on the parking trajectory.

[0241] In one or more embodiments, the following is also performed:

[0242] In response to a user activating the parking function of the first parking mode on the vehicle, it is determined that parking based on the first parking mode has a higher priority than parking based on the second parking mode.

[0243] In one or more embodiments, the following is also performed:

[0244] In response to the user activating the parking function of the first parking mode on the vehicle, determine whether the first parking trajectory for parking into the target parking space has been determined based on the first parking mode;

[0245] If the first parking trajectory is determined, control the vehicle to park in the target parking space based on the first parking trajectory.

[0246] Correspondingly, the following is also executed:

[0247] If the user has not activated the parking function of the first parking mode on the vehicle, the second parking mode will be used to control the vehicle to park in the target parking space.

[0248] As can be seen from the above, the parking control device / vehicle provided in the embodiments of the present invention enables the vehicle to automatically and accurately determine whether a high-degree-of-freedom rotating parking mode, i.e., the first parking mode, is applicable after detecting the target parking space. This allows the vehicle to successfully park in extremely narrow scenarios where the conventional parking mode cannot be used. At the same time, the first parking mode is avoided when the vehicle is in a normal scenario or when the vehicle condition is not suitable, effectively avoiding energy waste and mechanical wear.

[0249] This invention provides a computer program product, including a computer program that, when executed by a processor, implements the above-described parking control method.

[0250] Its implementation principle and technical effects are as disclosed above.

[0251] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0252] The methods disclosed in the various method embodiments provided by this invention can be arbitrarily combined without conflict to obtain new method embodiments.

[0253] The features disclosed in the various product embodiments provided by this invention can be arbitrarily combined without conflict to obtain new product embodiments.

[0254] The features disclosed in the various method or device embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0255] It should be noted that the aforementioned computer-readable storage media can be ROM, Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Ferromagnetic Random Access Memory (FRAM), Flash Memory, Magnetic Surface Memory, Optical Disc, or Compact Disc Read-Only Memory (CD-ROM), etc. It can also be various vehicles that include one or any combination of the above-mentioned storage media.

[0256] It should be noted that, in this document, 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. Unless otherwise specified, 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 that element.

[0257] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0258] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware nodes. 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 the present invention, 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, air conditioner, vehicle terminal, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0259] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatuses, devices, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0260] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0261] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The algorithms or displays provided herein for the functions specified in the boxes or boxes are not inherently related to any particular computer, virtual system, or other device. Furthermore, the embodiments of this invention are not directed to any particular programming language.

[0262] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A parking control method, characterized in that, Applied to vehicles equipped with distributed electric drives, the method includes: Detect the target parking space to be parked in; Determine whether the vehicle meets the first preset condition. The first preset condition is determined based on the vehicle status, environmental information, and / or the function activation status corresponding to the first parking mode. The first parking trajectory constructed by the first parking mode includes rotation. When the vehicle meets the first preset condition, the vehicle is controlled to activate the first parking mode and park in the target parking space.

2. The method according to claim 1, characterized in that, The method further includes: When the vehicle does not meet the first preset condition, the vehicle is controlled to use a second parking mode to park in the target parking space. The second parking trajectory constructed by the second parking mode does not include rotation.

3. The method according to claim 2, characterized in that, The first preset condition includes at least one of the following: The vehicle status indicator shows that the remaining battery charge (SOC) is greater than a first preset threshold. The function activation status indicates that the function of constructing the first parking trajectory in the first parking mode has been enabled. The environmental information indicates the presence of an obstacle in the second parking trajectory constructed based on the second parking mode; The environmental information indicates that a second parking trajectory cannot be successfully constructed based on the second parking mode.

4. The method according to any one of claims 1-3, characterized in that, The control of the vehicle to activate the first parking mode and park in the target parking space includes: Based on the environmental information and the target parking space, the first parking mode is used to construct the first parking trajectory; Based on the first parking trajectory, control the vehicle to park in the target parking space.

5. The method according to claim 4, characterized in that, The step of controlling the vehicle to park in the target parking space according to the first parking trajectory includes: Real-time detection of the vehicle's current body posture; If the deviation between the current vehicle posture and the first parking trajectory is greater than a second preset threshold; Update the first parking trajectory based on the current vehicle posture.

6. The method according to any one of claims 1-3, characterized in that, Controlling the vehicle to use the corresponding parking mode and park in the target parking space includes: The parking trajectory constructed according to the corresponding parking mode is displayed in the interactive interface of the vehicle or terminal; In response to the user's selection operation on the interactive interface, determine whether the parking method of the vehicle is immediate parking or off-vehicle parking; Upon detecting the immediate parking or the off-vehicle parking trigger, the vehicle is controlled to park in the target parking space according to the parking trajectory.

7. The method according to claim 3, characterized in that, The method further includes: In response to a user activating the parking function of the first parking mode on the vehicle, it is determined that parking based on the first parking mode has a higher priority than parking based on the second parking mode.

8. The method according to claim 2 or 3, characterized in that, The method further includes: In response to the user activating the parking function of the first parking mode on the vehicle, determine whether a first parking trajectory for parking into the target parking space has been determined based on the first parking mode. If the first parking trajectory is determined, control the vehicle to park in the target parking space based on the first parking trajectory; Accordingly, the method further includes: If the user has not activated the parking function of the first parking mode on the vehicle, the vehicle will be controlled to park in the target parking space according to the second parking mode.

9. A parking control device, characterized in that, For use in vehicles equipped with distributed electric drive systems, the device includes: The detection module is used to detect the target parking space to be parked in; The judgment module is used to determine whether the vehicle meets the first preset condition. The first preset condition is determined based on the vehicle status, environmental information, and / or the function activation status corresponding to the first parking mode. The first parking trajectory constructed by the first parking mode includes rotation. The control module is used to control the vehicle to use a first parking mode and park in the target parking space when the vehicle meets the first preset condition.

10. A vehicle, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform the operation of the parking control method as described in any one of claims 1-8.

Images