Auxiliary parking method, device and equipment and vehicle

Abstract

The invention provides an auxiliary parking method, device and equipment and a vehicle. The auxiliary parking method for team guide equipment comprises the steps of broadcasting a vehicle team message; receiving team forming feedback information which is sent by the following vehicle and at least carries the team forming code; checking the grouping code, determining the following vehicles in the current queue, and controlling the following vehicles to group; and after the grouping of the current queue is completed, a grouping confirmation message is sent to the following vehicle, so that the following vehicle arrives at the parking position. The auxiliary parking method for following vehicles in a queue comprises the following steps: receiving a broadcasted vehicle team message; in response to the vehicle team forming message, team forming feedback information at least carrying the team forming code is provided to the team forming guide equipment; team formation is carried out according to instructions of the team formation guiding equipment; and when a grouping confirmation message sent by the grouping guide equipment is received, a following driving mode is started to follow the front vehicle in the queue to arrive at the parking position. By adopting the scheme, the parking convenience can be improved through team formation based on the team formation codes.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and more particularly to an assisted parking method, device, equipment, and vehicle. Background Technology

[0002] With the continuous development of intelligent driving technology, autonomous driving technologies have emerged, such as ADAS (Advanced Driver Assistance System) and ADS (Autonomous Driving System). Assisted parking functions within autonomous driving technologies, such as Level 2 assisted parking in ADAS, can bring convenience to drivers when parking.

[0003] Currently, the assisted parking function offered by vehicles, taking Level 2 as an example, requires the driver to find a parking space, activate the assisted parking function, and park the vehicle in the space. This method requires the driver to first find a parking space and then use assisted parking. In large parking lots such as shopping malls or office buildings, the found parking space is very likely to be far from the parking lot entrance / elevator where the driver needs to go. After parking, the driver still needs to walk a long distance to reach their destination, thus posing a parking inconvenience problem. Summary of the Invention

[0004] The following assisted parking methods, devices, equipment, and vehicles provided in this application are intended to solve at least one of the aforementioned technical problems in the prior art.

[0005] According to a first aspect of this application, an assisted parking method is provided for a platooning guidance device, the method comprising:

[0006] Broadcast vehicle platooning information;

[0007] Receive platooning feedback information from the following vehicle in response to the platooning message, which carries at least a platooning code, the platooning code corresponding to the parking position of the following vehicle in the current platoon;

[0008] By verifying the grouping code, at least one following vehicle in the current queue is determined, and the at least one following vehicle is controlled to form a group.

[0009] After the current queue is formed, a queue confirmation message is sent to the at least one following vehicle, so that the at least one following vehicle follows the vehicle in front of it in the follow driving mode to the parking position.

[0010] In some embodiments, the method further includes:

[0011] Determine whether the current queue is complete. If it is, stop broadcasting the vehicle queuing message.

[0012] In some implementations, determining whether the current queue grouping is complete further includes:

[0013] The step of determining whether the current queue grouping is complete further includes:

[0014] Count the number of following vehicles in the current queue and determine whether the number of following vehicles in the current queue has reached the preset number;

[0015] The duration of broadcasting the vehicle platooning message is recorded, and it is determined whether the broadcast duration of the vehicle platooning message has reached a preset duration; and

[0016] If the duration reaches the preset duration, or if the quantity reaches the preset quantity, then the current queue is completed.

[0017] In some implementations, the step of determining at least one following vehicle in the current queue by verifying the platooning code and controlling the at least one following vehicle to platoon further includes:

[0018] Verify that the team code is valid;

[0019] If the verification passes, the following sequence number of the following vehicle in the current queue is determined based on the team code;

[0020] Control the at least one following vehicle to form a platoon according to the following vehicle's sequence number.

[0021] In some embodiments, the grouping feedback information further includes vehicle identification information of the following vehicles, and the method further includes, after controlling the at least one following vehicle to form a group, performing the following steps using the grouping guidance device:

[0022] Receive vehicle identification information of the preceding vehicle in the queue that is being identified and sent by the following vehicle;

[0023] The preceding vehicle of the following vehicle is determined based on the following sequence number;

[0024] Obtain the vehicle identification information of the identified preceding vehicle from the platooning feedback information; and

[0025] Based on the vehicle identification information of the identified preceding vehicle, the vehicle identification information of the following vehicle identified and sent by the following vehicle is verified to be correct. The verification result is obtained, and the corresponding queuing confirmation message is sent to the following vehicles in the queue based on the verification result.

[0026] In some embodiments, the grouping feedback information further includes the vehicle identification information of the following vehicle, and sending the grouping confirmation message to the at least one following vehicle further includes:

[0027] The platooning guidance device determines the lead vehicle of the corresponding follower vehicle based on the follower sequence number of the at least one follower vehicle, and obtains the vehicle identification information of the determined lead vehicle from the platooning feedback information.

[0028] The platooning guidance device sends a platooning confirmation message carrying the vehicle identification information of the preceding vehicle to the corresponding following vehicle. The following vehicle then determines whether the received vehicle identification information of the preceding vehicle matches the identified vehicle identification information of the preceding vehicle. If they match, the following vehicle follows the preceding vehicle in the current platoon to the parking position in follow driving mode.

[0029] In some embodiments, the platooning feedback information further includes the vehicle size information of the following vehicles; the method further includes:

[0030] During the process of the guiding vehicle guiding at least one following vehicle to follow, if a parking position is found, the parking position is assigned to the matching following vehicle according to the vehicle size information and the following vehicle's following sequence number. After the matched following vehicle leaves the queue to park, the following vehicles in the queue are updated.

[0031] In some embodiments, the method further includes:

[0032] Receive vehicle status information broadcast by at least one following vehicle;

[0033] If the vehicle status information of a following vehicle indicates a vehicle malfunction, then the following vehicle is controlled to stop driving or leave the queue.

[0034] According to a second aspect of this application, an assisted parking method is provided for following vehicles in a queue, the method comprising:

[0035] Receive vehicle platooning messages broadcast by the platooning guidance device;

[0036] In response to the vehicle platooning message, platooning feedback information carrying at least a platooning code is provided to the platooning guidance device; the platooning code corresponds to the parking position of the following vehicle in the current platoon;

[0037] Form teams according to the instructions of the team-up guidance device;

[0038] Upon receiving a group confirmation message from the group guidance device, the vehicle activates the follow driving mode and follows the vehicle in front in the queue to the parking position.

[0039] In some embodiments, the method further includes performing the following steps using the following vehicle:

[0040] Vehicle identification information of the vehicle in front is obtained by recognizing the image of the vehicle in front, which is acquired by an image acquisition device installed on the following vehicle;

[0041] The vehicle identification information of the preceding vehicle is sent to the platooning guidance device so that the platooning guidance device can verify whether the identified vehicle identification information of the preceding vehicle is correct; or

[0042] Upon receiving a platoon confirmation message carrying the vehicle identification information of the vehicle in front, it determines whether the received vehicle identification information of the vehicle in front is consistent with the identified vehicle identification information of the vehicle in front. If they are consistent, it activates the follow driving mode to follow the vehicle in front in the platoon to the parking position.

[0043] In some embodiments, the method further includes:

[0044] The location information of the vehicle in front is obtained by acquiring images of the vehicle in front based on images acquired by an image acquisition device installed on the following vehicle;

[0045] Obtain the driving parameters of the vehicle in front by broadcasting the driving parameters of the vehicles in the current queue;

[0046] Based on the positioning information of the preceding vehicle and the driving parameters, the driving parameters of the following vehicle are adjusted to follow the preceding vehicle to the parking position.

[0047] In some embodiments, the driving parameters include vehicle speed, vehicle acceleration, and steering angular velocity; adjusting the driving parameters of the following vehicle based on the positioning information of the preceding vehicle and the driving parameters to follow the preceding vehicle to the parking position includes:

[0048] The positioning information of the preceding vehicle, the driving parameters of the preceding vehicle, the vehicle speed of the vehicle, and the steering angular velocity of the vehicle are input into a pre-trained auxiliary control intelligent model, so as to determine the target acceleration and target steering angle of the vehicle based on the output of the auxiliary control intelligent model.

[0049] Based on the target acceleration and the target steering angle, the vehicle is controlled to follow the vehicle in front to the parking position.

[0050] According to a third aspect of this application, an auxiliary parking device is provided for platooning guidance equipment, comprising:

[0051] The message sending module is configured to broadcast vehicle platooning messages;

[0052] The information receiving module is configured to receive platooning feedback information, carrying at least a platooning code, sent by the following vehicle in response to the vehicle platooning message. The platooning code corresponds to the parking position of the following vehicle in the current platoon.

[0053] The team control module is configured to determine at least one following vehicle in the current queue by verifying the team code, and control the at least one following vehicle to form a team.

[0054] The follow control module is configured to send a grouping confirmation message to the at least one following vehicle after the current queue is formed, so that the at least one following vehicle follows the vehicle in front of it in the follow driving mode to the parking position.

[0055] In some implementations, the team control module includes:

[0056] An encoding verification unit is configured to verify whether the team encoding is valid;

[0057] The sequence number determination unit is configured to determine the following sequence number of the following vehicle in the current queue based on the grouping code when the verification passes.

[0058] A teaming unit is configured to control the at least one following vehicle to team up according to the following sequence number of the following vehicle.

[0059] According to a fourth aspect of this application, an auxiliary parking device is provided for following vehicles in a queue, comprising:

[0060] The message receiving module is configured to receive vehicle platooning messages broadcast by the platooning guidance device;

[0061] A grouping feedback module is configured to respond to the vehicle grouping message by providing grouping feedback information, carrying at least a grouping code, to the grouping guidance device; the grouping code corresponds to the parking position of the following vehicle in the current queue.

[0062] The team-up module is configured to form teams according to the instructions of the team-up guidance device;

[0063] The follow driving module is configured to activate the follow driving mode and follow the vehicle in front in the queue to the parking position when a queuing confirmation message is received from the queuing guidance device.

[0064] In some embodiments, the above-described auxiliary parking device for following vehicles in a queue further includes a vehicle information recognition module configured to:

[0065] The vehicle identification information of the preceding vehicle is obtained by recognizing the image of the preceding vehicle collected by the image acquisition device installed on the following vehicle, and the vehicle identification information of the preceding vehicle is sent to the platooning guidance device so that the platooning guidance device can verify whether the vehicle identification information of the preceding vehicle is correct. Alternatively, the following driving module is further used to determine whether the received vehicle identification information of the preceding vehicle is consistent with the vehicle identification information of the preceding vehicle when it receives a platooning confirmation message carrying the vehicle identification information of the preceding vehicle. If they are consistent, the following driving mode is activated to follow the preceding vehicle in the platoon to the parking position.

[0066] According to a fifth aspect of this application, a platooning guidance device is provided, including a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements the steps of the above-described assisted parking method for the platooning guidance device.

[0067] According to a sixth aspect of this application, a vehicle is provided, including a vehicle body and a following vehicle control device, the following vehicle control device being disposed on the vehicle body;

[0068] The following vehicle control device includes a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, it implements the steps of the above-described assisted parking method for following vehicles in a queue.

[0069] In summary, the assisted parking method, device, equipment, and vehicle provided in this application have at least the following beneficial effects:

[0070] By broadcasting vehicle platooning messages using a platooning guidance device, following vehicles send platooning feedback messages based on their platooning codes corresponding to their parking positions in the current queue. The platooning guidance device then controls the following vehicles to platoon based on the platooning feedback information, allowing them to follow the vehicle in front in the current queue to the parking position, thus achieving assisted parking. As a result, the following vehicles do not require the driver to drive and search for a parking position, avoiding the inconvenience caused by a far-away parking location, saving parking time, improving parking convenience and efficiency, and preventing parking lot congestion. Attached Figure Description

[0071] To more clearly illustrate the technical solutions of the specific embodiments of this application, the accompanying drawings used in the specific embodiments will be briefly introduced below in conjunction with the accompanying drawings. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings or solutions can be obtained based on these drawings without creative effort.

[0072] Figure 1 This is a flowchart of an assisted parking method for a platooning guidance device in one embodiment of this application;

[0073] Figure 2 This is a schematic diagram of a queue of multiple following vehicles, with a guide vehicle as the leader, in one embodiment of this application;

[0074] Figure 3 This is a schematic diagram illustrating the specific process of determining at least one following vehicle in the current queue by verifying the queuing code and controlling at least one following vehicle to form a queuing in one embodiment of this application.

[0075] Figure 4 This is a flowchart of an assisted parking method for following vehicles in a queue, as described in one embodiment of this application.

[0076] Figure 5 This is a schematic diagram of a queue consisting of a guide vehicle and multiple following vehicles in one embodiment of this application;

[0077] Figure 6 This is a model architecture diagram of an auxiliary control intelligent model in one embodiment of this application;

[0078] Figure 7 This is a structural block diagram of an auxiliary parking device for a platooning guidance system in one embodiment of this application;

[0079] Figure 8 This is a structural block diagram of an auxiliary parking device for following vehicles in a queue, according to one embodiment of this application.

[0080] Figure 9 This is a schematic diagram of a vehicle being guided in one embodiment of this application;

[0081] Figure 10 This is a schematic diagram of a following vehicle in one embodiment of this application;

[0082] Figure 11 A structural diagram of a platooning guidance device or a following vehicle control device provided in one embodiment of this application. Detailed Implementation

[0083] To make the above and other features and advantages of this application clearer, the application is further described below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explanation to those skilled in the art, and are exemplary only, not restrictive.

[0084] In the following description, numerous specific details are set forth to provide a thorough understanding of this application. However, it will be apparent to those skilled in the art that the specific details are not required to practice this application. In other instances, well-known steps or operations have not been described in detail to avoid obscuring this application.

[0085] The method provided in this application embodiment can be executed by the corresponding device provided in this application embodiment, which can be configured in a corresponding vehicle or equipment. Specifically, an auxiliary parking method for the platooning guidance device is executed on the platooning guidance device, and an auxiliary parking method for the following vehicle is executed on the following vehicle, with communication between the platooning guidance device and the following vehicle. The platooning guidance device can be located in a lead vehicle used to guide the following vehicles to follow the driver; the lead vehicle can be the first vehicle in the platoon. Alternatively, the platooning guidance device can be a device independent of the vehicle, such as a parking control console located in a parking lot or at a remote server. By combining the above two auxiliary parking methods, the following vehicles in the guidance platoon can automatically follow the driver to the parking position.

[0086] refer to Figure 1 This application provides an assisted parking method for a platooning guidance device, the method comprising the following steps S110 to S170.

[0087] S110: Broadcast vehicle platooning message.

[0088] Vehicle platooning messages are used to request following vehicles to join a platoon. Specifically, vehicle platooning messages can be broadcast via a communication module. For example, in an embodiment where the platooning guidance device is located at the guiding vehicle, the vehicle platooning message broadcast by the guiding vehicle via the communication module can be a simple vehicle platooning request or a vehicle platooning request carrying the location information of the queue to which the guiding vehicle belongs, thereby informing the following vehicles of the parking location they need to reach. Alternatively, in an embodiment where the platooning guidance device is located at a parking control console independent of the vehicle, if there are multiple guiding vehicles and multiple parking locations for the corresponding platooning queue, the broadcast vehicle platooning message can be a vehicle platooning request carrying the location information and queue number of the queue to be joined. Upon receiving the vehicle platooning request, the following vehicle can learn the location information of the queue to be joined and move to the parking location corresponding to that location information. If there is only one guiding vehicle and one known parking location for the corresponding platooning queue, the broadcast vehicle platooning message can be a simple vehicle platooning request or a vehicle platooning request carrying the location information of the queue to which the guiding vehicle belongs.

[0089] S130: Receive platooning feedback information from the following vehicle in response to the vehicle platooning message, which carries at least a platooning code. The platooning code corresponds to the parking position of the following vehicle in the current queue.

[0090] The following vehicle is a vehicle with parking needs. Specifically, the following vehicle is equipped with ADAS / ADS functions and can follow other vehicles using the follow driving mode. The current queue refers to the queue that the following vehicle is to join. Each queue corresponds to at least one parking position in a parking area. The grouping code can be, for example, the code located at the parking position of the following vehicle in the current queue, such as a landmark number at the parking position, or a code corresponding to the parking position displayed in other forms. Specifically, when the following vehicle arrives at the planned parking position in the queue, it can obtain the grouping code corresponding to that parking position, and then send grouping feedback information carrying the grouping code to the grouping guidance device based on the grouping code. The grouping code can be composed of numbers or a combination of numbers and letters, or other formats; this application does not impose specific limitations on this.

[0091] Upon receiving a vehicle platooning message, the following vehicle, in response to the message, can send platooning feedback information indicating acceptance of the platooning to the platooning guidance device. In one embodiment, there are multiple queues to be joined, and the platooning feedback information also carries the queue number of the current queue the following vehicle requests to join. Therefore, the platooning guidance device can determine the queue the following vehicle should join based on the platooning feedback information. Specifically, the platooning guidance device can receive the platooning feedback information sent by the following vehicle through a communication module.

[0092] For example Figure 2 As shown, a queue of parking positions is planned near the entrance of the parking lot. The guide vehicle is positioned before the first parking position in the queue. After receiving the vehicle platooning message, the following vehicle arrives at the corresponding parking position in the queue and obtains the platooning code corresponding to that position. The driver of the following vehicle can enter the platooning code through the input interface of the onboard computer or mobile terminal and send platooning feedback information carrying at least the platooning code to the platooning guidance device through the corresponding communication module.

[0093] S150: By verifying the grouping code, determine at least one following vehicle in the current queue, and control at least one following vehicle to form a group.

[0094] The queuing guidance device verifies the queuing code, and adds the following vehicle corresponding to the verified queuing code as a vehicle in the current queue, thus determining at least one following vehicle in the current queue. Specifically, verifying the queuing code involves checking whether the queuing code belongs to the queuing code corresponding to the parking position of the current queue that the following vehicle wants to join. In one embodiment, there are multiple queues to be joined, and the queuing guidance device can, for example, verify whether the queuing code belongs to the queuing code selected by the following vehicle.

[0095] S170: After the current queue is formed, send a queue confirmation message to at least one following vehicle, so that at least one following vehicle follows the vehicle in front of it in the follow driving mode to the parking position.

[0096] Specifically, the group-up guidance device can send group-up confirmation messages via broadcast through the vehicle-to-everything (V2X) network or other mobile communication networks to the following vehicles. Alternatively, the group-up feedback information can include the communication address of the following vehicles, and the group-up guidance device can then send a group-up confirmation message to the corresponding following vehicle based on that address. Specifically, the group-up confirmation message can be, for example, a notification that group-up is complete, a request to enter follow driving mode, or a message carrying other information.

[0097] When the current queue is formed, the following vehicles in the current queue are arranged sequentially. Specifically, after the queuing guidance device sends a queuing confirmation message to the following vehicles, the following vehicles in the current queue enter the follow driving mode. The lead vehicle in the current queue can be driven by a driver, or it can automatically drive to the vicinity of the corresponding empty parking space according to the available parking space information provided by the parking lot and following the vehicle in front in the queue in the follow driving mode. The follow driving mode can be, for example, a follow mode implemented through autonomous driving.

[0098] The aforementioned assisted parking method for platooning guidance devices broadcasts vehicle platooning messages, enabling following vehicles to send platooning feedback messages based on their platooning codes corresponding to their current parking positions in the queue. The platooning guidance device then controls the following vehicles to platoon based on this feedback information, allowing them to follow the vehicle in front in the queue to the parking position. This achieves assisted parking, as the following vehicles can automatically follow the driver to the parking location. When using this method, the following vehicles do not require a driver to search for a parking position, avoiding inconvenience caused by distant parking locations, saving parking time, improving parking convenience and efficiency, and preventing parking lot congestion.

[0099] In one embodiment, the above-mentioned assisted parking method for queuing guidance equipment further includes: determining whether the current queue queuing is completed, and if so, stopping the broadcasting of vehicle queuing messages.

[0100] Once the current queue has completed its queuing process, the vehicle queuing message playback stops to avoid unnecessary procedural waste. In one embodiment, after all following vehicles in the current queue have completed parking, the guide vehicle can return to the front of its parking position in the queue or to another designated waiting parking position in the parking lot. The guide vehicle can be a fixed vehicle or a parking vehicle temporarily designated based on parking demand.

[0101] In one embodiment, determining whether the current queue grouping is complete further includes steps (a1) to (a3).

[0102] Step (a1): Count the number of following vehicles in the current queue and determine whether the number of following vehicles in the current queue has reached the preset number.

[0103] The preset quantity can be set according to the maximum number of teams required in actual situations. For example, the preset quantity can be flexibly set according to the actual situation, such as 2, 3, 4, 5 or more.

[0104] Step (a2): Count the duration of the broadcast vehicle platooning message and determine whether the duration of the broadcast vehicle platooning message has reached the preset duration.

[0105] The preset duration can be set according to the maximum allowed team waiting time.

[0106] Step (a3): If the duration reaches the preset duration, or if the quantity reaches the preset quantity, then the current queue is completed.

[0107] Specifically, if the broadcast duration does not reach the preset duration, and the number of following vehicles in the current queue does not reach the preset number, then the current queue queuing is not complete, and the vehicle queuing message continues to be broadcast. Specifically, when the broadcast duration reaches the preset duration, it can be further determined whether the number of following vehicles in the current queue is 0. If it is 0, it means there are no following vehicles in the queue, and at this time, it can be determined that the current vehicle queuing is not complete; if it is not 0, then it can be determined that the current queue queuing is complete. By considering the number of following vehicles in the current queue and the duration of the broadcast message, it is possible to accurately determine whether queuing is complete.

[0108] In one embodiment, reference Figure 3 Step S150 includes steps S151 to S155.

[0109] S151: Verify whether the team code is valid.

[0110] Specifically, the queuing guidance device verifies whether the queuing code belongs to the queuing code of the parking position corresponding to the current queue that the following vehicle is to join, in order to verify its validity. For example, the base codes corresponding to each parking position in the current queue can be pre-recorded, and the queuing code in the queuing feedback information can be compared with multiple base codes corresponding to the current queue. If there is a base code that matches the queuing code, the queuing code is valid and the verification passes; otherwise, the verification fails.

[0111] S153: If the verification passes, the following sequence number of the following vehicle in the current queue is determined based on the team code.

[0112] Specifically, according to the order of parking positions, each parking position corresponds to a follow sequence number of a queue. The follow sequence number of the parking position corresponding to the group code is used as the follow sequence number of the following vehicle that sends this group code.

[0113] S155: Control at least one following vehicle to form a platoon based on the following vehicle's sequence number.

[0114] Specifically, the following sequence number of each following vehicle is sent to the following vehicles to notify them of their order in the current queue, and the following vehicles form a group according to their following sequence numbers. Furthermore, the grouping feedback information can also carry other information, such as vehicle identification information. The grouping guidance device can record the following sequence number and vehicle identification information of each following vehicle in the current queue to generate a queue information table.

[0115] By generating grouping feedback information based on the grouping code associated with the parking location, the system ensures that following vehicles only join the group when they reach the parking location of the current queue, thus preventing vehicles from interfering with the grouping of vehicles outside the parking location. Furthermore, the grouping guidance device can directly determine the following sequence number of the following vehicles based on the grouping feedback information to join the group.

[0116] Furthermore, after the current queue is formed or the following vehicles in the current queue have completed parking, the above-mentioned assisted parking method for the queue guidance device further includes: generating a new queue code corresponding to the parking position and sending it to the display device located at the parking position for display.

[0117] Specifically, a display device can be placed at each parking position in the queue, or multiple parking positions can share a single display device. By generating a new queue code after each round of queuing, it ensures that a different queue code is used for each queuing, and the used queue code becomes invalid in the next queuing, preventing vehicles from using historical queue codes to cut in line and improving the accuracy of vehicle queuing.

[0118] In one embodiment, the platooning feedback information also includes vehicle identification information of the following vehicles. This vehicle identification information is used to identify a unique vehicle and may be, for example, a license plate number or vehicle identification number. Following step S150, the assisted parking method for the platooning guidance device described above further utilizes the platooning guidance device to perform the following steps (b1) to (b4).

[0119] Step (b1): Receive vehicle identification information of the preceding vehicle in the queue that is being identified and sent by the following vehicle.

[0120] Specifically, an image acquisition device is installed in front of the vehicle following the vehicle. The vehicle identification information of the vehicle in front is obtained based on the image of the vehicle in front acquired by the image acquisition device, and then sent to the platooning guidance device, such as to the guiding vehicle in the current platoon or to the parking control console.

[0121] Step (b2): Determine the preceding vehicle based on the following sequence number.

[0122] The platooning guidance device can determine the previous following sequence number based on the following sequence number of the current following vehicle that sends vehicle identification information, and thus determine that the following vehicle corresponding to the previous following sequence number is the vehicle in front of the current following vehicle.

[0123] Step (b3): ​​Obtain the vehicle identification information of the identified preceding vehicle from the team feedback information.

[0124] Specifically, based on the grouping feedback information sent by each following vehicle, the grouping guidance device can obtain the vehicle identification information and following sequence number of each following vehicle. Based on the following sequence number of the vehicle in front of the current following vehicle, the vehicle identification information of the vehicle in front can be found.

[0125] Step (b4): Based on the vehicle identification information of the determined preceding vehicle, verify whether the vehicle identification information of the preceding vehicle identified and sent by the following vehicle is correct, obtain the verification result, and send the corresponding platooning confirmation message to the following vehicles in the queue based on the verification result.

[0126] The vehicle identification information of the preceding vehicle obtained in step (b3) is determined based on the vehicle identification information sent by the preceding vehicle itself. In contrast, the vehicle identification information of the preceding vehicle identified and sent by the following vehicle is obtained by the following vehicle through identifying the information of the preceding vehicle, which may contain errors. Specifically, by using the vehicle identification information of the preceding vehicle obtained in step (b3) as a benchmark, the following vehicle can verify the correctness of its identification of the preceding vehicle by judging whether the vehicle identification information of the preceding vehicle is correct. Advantageously, if the verification result is correct, a platoon confirmation message including the following sequence number is sent to the following vehicle; if the verification result is incorrect, a platoon confirmation message carrying the following sequence number and the correct vehicle identification information of the preceding vehicle can be sent.

[0127] Vehicle identification information may include a license plate number or a vehicle identification number (VIN). Specifically, for example, in one embodiment, step (b4) includes: if the following vehicle is the first following vehicle, then comparing the license plate number of the preceding vehicle sent by the first following vehicle with the license plate number already stored in the leading vehicle; that is, comparing the license plate number of the preceding vehicle sent by the first following vehicle with the license plate number of the leading vehicle. If the following vehicle is not the first following vehicle, then comparing the license plate number of the preceding vehicle sent by the non-first following vehicle with the license plate number reported by the preceding following vehicle of the non-first following vehicle. If all the preceding vehicle license plates sent by the following vehicles pass the comparison, then sending the corresponding grouping confirmation message to the following vehicles in the current queue.

[0128] In another embodiment, the grouping feedback information also includes vehicle identification information of the following vehicles, and step S170, which sends a grouping confirmation message to at least one following vehicle, further includes steps (c1) and (c2).

[0129] Step (c1): The platooning guidance device determines the preceding vehicle of the corresponding following vehicle based on the following sequence number of at least one following vehicle, and obtains the vehicle identification information of the determined preceding vehicle from the platooning feedback information.

[0130] Step (c2): The platooning guidance device sends a platooning confirmation message carrying the vehicle identification information of the preceding vehicle to the corresponding following vehicle. The following vehicle then determines whether the received vehicle identification information of the preceding vehicle matches the identified vehicle identification information of the preceding vehicle. If they match, the following vehicle follows the preceding vehicle in the current platoon to the parking position in the follow driving mode.

[0131] In this embodiment, the platooning guidance device determines the following sequence number and vehicle identification information of each following vehicle based on the platooning feedback information sent by each following vehicle. Furthermore, it can determine the preceding vehicle and its vehicle identification information based on the following sequence number. Further, the platooning guidance device sends a platooning confirmation message to the following vehicles based on the preceding vehicle's vehicle identification information. This allows the following vehicles to compare the received preceding vehicle's vehicle identification information with the vehicle identification information obtained through image recognition. Thus, the accuracy of the preceding vehicle identification is verified by the following vehicles themselves, ensuring accurate following.

[0132] In one embodiment, the platooning feedback information further includes the vehicle size information of the following vehicles; the above-described assisted parking method for platooning guidance equipment further includes: during the process of the guiding vehicle guiding at least one following vehicle to follow, if a parking position is found, the parking position is assigned to the matching following vehicle according to the vehicle size information and the following vehicle's following sequence number; after the matching following vehicle leaves the queue to park, the following vehicles in the queue are updated.

[0133] Specifically, the size of the parking space can be determined, and the space can be allocated to following vehicles whose dimensions are smaller than the space. If multiple vehicles meet the criteria, they are allocated according to their following sequence number. Following vehicles can automatically park using their built-in parking assistance functions. This achieves automatic parking for following vehicles, eliminating the need for a driver to follow them to the parking space, thus improving parking convenience and efficiency.

[0134] In one embodiment, the assisted parking method for a platooning guidance device further includes: receiving vehicle status information broadcast by at least one following vehicle; if the vehicle status information of a following vehicle indicates a vehicle malfunction, then controlling the following vehicle to stop driving or leave the platoon.

[0135] Furthermore, the system can determine the order of following vehicles in the queue when a vehicle malfunctions. If it is the last vehicle, it can stop or remove the vehicle from the queue. If it is not the last vehicle, it can stop the following vehicle and all subsequent vehicles, and the queue can be readjusted if necessary. By monitoring the status of following vehicles in the queue, timely action can be taken when a vehicle malfunctions, ensuring the safety of following vehicles.

[0136] In one embodiment, the assisted parking method for a platooning guidance device further includes: receiving driving parameters broadcast by at least one following vehicle, and displaying vehicle status information and driving parameters via a display device.

[0137] For example, the aforementioned display device can be a human-machine interface (HMI) installed on the guiding vehicle, or it can be a display independent of the vehicle but connected to the parking control console. The platooning guidance equipment receives driving parameters and vehicle status information broadcast by following vehicles in the platoon and displays them through the HMI, allowing the drivers of the guiding vehicles to view them at any time.

[0138] refer to Figure 4 This application provides an assisted parking method for following vehicles in a queue, specifically for following vehicles equipped with ADAS / ADS functionality. The method includes the following steps S410 to S470.

[0139] S410: Receives vehicle platooning messages broadcast by the platooning guidance device.

[0140] Specifically, the vehicle platooning message broadcast by the platooning guidance device can be received through the communication module of the following vehicle.

[0141] S430: In response to a vehicle platooning message, provides platooning feedback information to the platooning guidance device, which carries at least a platooning code; the platooning code corresponds to the parking position of the following vehicle in the current platoon.

[0142] Specifically, the team formation feedback information can be sent to the team formation guidance device via broadcast, or the communication address of the team formation guidance device can be carried in the vehicle team formation message, and the team formation feedback information can be sent to the team formation guidance device through this communication address.

[0143] S450: Form a team according to the instructions of the team formation guide device.

[0144] S470: Upon receiving a group confirmation message from the group guidance device, activate the follow driving mode to follow the vehicle in front in the queue to the parking position.

[0145] The aforementioned assisted parking method for following vehicles in a queue provides queuing feedback information, carrying the queuing code corresponding to the following vehicle's parking position in the current queue, to the queuing guidance device. Under the guidance of the queuing guidance device, the following driving mode is activated to follow the vehicle in front in the queue to the parking position, achieving automatic following to the parking position. When using this method, the following vehicle does not require a driver to drive to find a parking position. The driver only needs to park the vehicle in the agreed parking position in the queue and can leave. This avoids the inconvenience caused to the driver by the parking position being far away, saves parking time, improves parking convenience and efficiency, and avoids parking lot congestion.

[0146] In one embodiment, the group feedback information further includes vehicle identification information. This vehicle identification information may include a license plate number or vehicle identification number (VIN), and the group feedback information may also include other vehicle information, such as vehicle size information.

[0147] Specifically, step S430 may include: following the vehicle in response to the vehicle platooning message, entering a platooning code on the input interface of the in-vehicle display device, and sending the platooning code and the vehicle identification information of the vehicle to the guiding vehicle.

[0148] Obtaining team codes via interface input is convenient and quick. For example, combined with... Figure 2As shown, after the driver drives their vehicle to the parking position behind the lead vehicle, they open the corresponding app on the vehicle's infotainment system. When the following vehicles receive the platooning message, the app will display a prompt asking whether to platoon. When the driver clicks "Yes," the app will display a message asking, "Please enter the current platooning code and vehicle identification information." After filling in the information and clicking "Confirm," the current platooning code and vehicle identification information will be transmitted wirelessly to the platooning guidance device. After successful verification, the platooning guidance device will send a "Enter Placing Mode" signal to the following vehicles, allowing them to join the platoon. Once the following vehicles successfully enter this mode, they will send a status signal back to the platooning guidance device, which will then reply with a platooning success signal and display it on the following vehicles' apps. At this point, the driver can leave the vehicle and lock the doors, and the following vehicles will automatically park themselves in the platoon following the vehicle in front.

[0149] In one embodiment, the above-described assisted parking method for following vehicles in a queue further includes the following steps performed by the following vehicle: obtaining vehicle identification information of the preceding vehicle based on the image of the preceding vehicle acquired by the image acquisition device installed on the following vehicle; and sending the identified vehicle identification information of the preceding vehicle to the queuing guidance device so that the queuing guidance device can verify whether the identified vehicle identification information of the preceding vehicle is correct.

[0150] Specifically, for example, an image acquisition device is installed at the front of the following vehicle to capture images of the vehicle in front. For instance, the image of the vehicle in front is used to identify its license plate number. This license plate number is then sent to a convoy guidance device. The convoy guidance device determines the following vehicle's sequence number, identifies the vehicle in front of it based on the sequence number, and retrieves the license plate number of the identified vehicle from the convoy feedback information. The convoy guidance device then verifies whether the identified license plate number matches the identified license plate number to confirm its accuracy. Furthermore, identifying the license plate number of the vehicle in front can also be used to prevent vehicles from losing track of each other.

[0151] In another embodiment, the following vehicle obtains the vehicle identification information of the preceding vehicle based on the image of the preceding vehicle captured by the image acquisition device installed on the following vehicle. Upon receiving a platoon confirmation message carrying the vehicle identification information of the preceding vehicle sent by the platoon guidance device, the following vehicle determines whether the received vehicle identification information of the preceding vehicle matches the identified vehicle identification information of the preceding vehicle. If they match, the following vehicle activates the follow driving mode to follow the preceding vehicle in the platoon to the parking position. That is, in this embodiment, the following vehicle itself verifies the accuracy of the vehicle identification information of the preceding vehicle it has identified based on the vehicle identification information of the preceding vehicle sent by the platoon guidance device.

[0152] In one embodiment, the above-described assisted parking method for following vehicles in a queue further includes: obtaining the positioning information of the preceding vehicle based on an image of the preceding vehicle acquired by an image acquisition device installed on the following vehicle; obtaining the driving parameters of the preceding vehicle by means of driving parameters broadcast by vehicles in the current queue; and adjusting the driving parameters of the following vehicle based on the positioning information and driving parameters of the preceding vehicle to follow the preceding vehicle to the parking position.

[0153] The positioning information includes coordinates and steering angle. By recognizing the image of the vehicle in front, its coordinates and steering angle can be obtained. For example, a pre-trained vehicle positioning and recognition model can be used for identification. Figure 5 As shown, three vehicles, A, B, and C, are arranged in a queue. Vehicle B identifies the location information of vehicle A as (X...). A Y A ,θ1), car C identifies the position of car B as (X B Y B , θ1 is the steering angle of car A, θ2 is the steering angle of car B, X A Let Y be the longitudinal position of car A. A Let X be the lateral position of car A. B Let Y be the longitudinal position of car B. B This refers to the lateral position of car B.

[0154] For example, each following vehicle in the queue broadcasts its own driving parameters, which it can then receive. Furthermore, the broadcast message can carry the vehicle's following sequence number, allowing the system to determine the preceding vehicle's driving parameters from among the received parameters. By adjusting the following vehicle's driving parameters based on the preceding vehicle's location information and driving parameters, the following vehicles can accurately and promptly follow the preceding vehicle to its parking position.

[0155] In one embodiment, the driving parameters include vehicle speed, vehicle acceleration, and steering angular velocity; adjusting the driving parameters of the following vehicle based on the positioning information of the preceding vehicle and the driving parameters to follow the preceding vehicle to the parking position includes:

[0156] The positioning information of the vehicle in front, the driving parameters of the vehicle in front, the speed of the vehicle and the steering angular velocity of the vehicle are input into the pre-trained auxiliary control intelligent model. The target acceleration and target steering angle of the vehicle are determined based on the output of the auxiliary control intelligent model. Based on the target acceleration and target steering angle, the vehicle is controlled to follow the vehicle in front to the parking position.

[0157] By determining the target acceleration and target steering angle of the vehicle based on the positioning information and driving parameters of the vehicle in front, combined with the vehicle's speed and steering angular velocity, the parameters of the following vehicle can be adjusted, thereby improving the accuracy of following the vehicle.

[0158] Specifically, the coordinates, steering angle, speed, acceleration, and steering angular velocity of the vehicle in front, along with the vehicle's own speed and steering angular velocity, are input into the auxiliary control intelligent model. The auxiliary control intelligent model then outputs the target acceleration and target steering angle of the currently following vehicle. This auxiliary control intelligent model is, for example, an artificial intelligence neural network model, such as... Figure 6 As shown, it includes an input layer, a hidden layer, and an output layer. Taking car C following car B as an example, after processing by the auxiliary control intelligent model, the output of the auxiliary control intelligent model is obtained:

[0159] (a req SA req ) = f(YawRate B ,a B V B YawRate c V c ,X B ,Y B ,θ2)

[0160] Among them, a req For target acceleration, SA req YawRate is the target turning angle. B Let a be the steering angular velocity of car B. B Let V be the acceleration of car B. B Let X be the speed of car B. B Y represents the longitudinal position of the vehicle in front. B Let θ1 be the lateral position of the vehicle in front, θ2 be the steering angle of the vehicle in front, and YawRate be the lateral position of the vehicle in front. C Let V be the steering angular velocity of car C. C Let C be the speed of car C.

[0161] Additionally, this application provides an auxiliary parking device for use with platooning guidance equipment, such as... Figure 7 As shown, the device includes a message sending module 710, an information receiving module 730, a team control module 750, and a follow control module 770.

[0162] The message sending module 710 is configured to broadcast vehicle platooning messages.

[0163] The information receiving module 730 is configured to receive platooning feedback information, carrying at least a platooning code, from the following vehicle in response to the vehicle platooning message. The platooning code corresponds to the parking position of the following vehicle in the current platoon.

[0164] The team control module 750 is configured to determine at least one following vehicle in the current queue by verifying the team code, and control at least one following vehicle to form a team.

[0165] The follow control module 770 is configured to send a grouping confirmation message to the at least one following vehicle after the current queue is formed, so that the at least one following vehicle follows the vehicle in front in the current queue to the parking position in follow driving mode.

[0166] In one embodiment, the team control module 750 includes: an encoding verification unit, a sequence number determination unit, and a team formation unit.

[0167] The encoding verification unit is configured to verify whether the platooning code is valid; the sequence number determination unit is configured to determine the following sequence number of the following vehicle in the current queue based on the platooning code when the verification passes; the platooning unit is configured to control at least one following vehicle to platoon according to the following sequence number of the following vehicle.

[0168] This application also provides an auxiliary parking device for following vehicles in a queue, see reference. Figure 8 The device includes a message receiving module 810, a team feedback module 830, a team module 850, and a follow-driving module 870.

[0169] The message receiving module 810 is configured to receive vehicle platooning messages broadcast by the platooning guidance device; the platooning feedback module 830 is configured to respond to the vehicle platooning messages by providing platooning feedback information, carrying at least a platooning code, to the platooning guidance device; the platooning code corresponds to the parking position of the following vehicle in the current queue; the platooning module 850 is configured to platoon according to the instructions of the platooning guidance device; and the follow driving module 870 is configured to activate the follow driving mode and follow the preceding vehicle in the queue to the parking position when a platooning confirmation message is received from the platooning guidance device.

[0170] In one embodiment, the above-mentioned auxiliary parking device for following vehicles in a queue further includes a vehicle information recognition module, configured to: obtain vehicle recognition information of the preceding vehicle based on the image of the preceding vehicle collected by the image acquisition device installed on the following vehicle, and send the identified vehicle recognition information of the preceding vehicle to the queuing guidance device so that the queuing guidance device can verify whether the identified vehicle recognition information of the preceding vehicle is correct.

[0171] In another embodiment, the vehicle information recognition module is configured to: obtain vehicle identification information of the preceding vehicle based on the image of the preceding vehicle acquired by the image acquisition device installed on the following vehicle; the following driving module 870 is further configured to, when receiving a platoon confirmation message carrying the vehicle identification information of the preceding vehicle, determine whether the received vehicle identification information of the preceding vehicle is consistent with the identified vehicle identification information of the preceding vehicle, and if they are consistent, activate the following driving mode to follow the preceding vehicle in the platoon to the parking position.

[0172] It should be understood that the specific features, operations, and details described herein with respect to the methods of this application can also be similarly applied to the apparatus and system of this application, or vice versa. Furthermore, each step of the methods of this application described above can be performed by a corresponding component or unit of the apparatus or system of this application.

[0173] It should be understood that the various modules / units of the device of this application can be implemented wholly or partially through software, hardware, firmware, or a combination thereof. Each module / unit can be embedded in the processor of the electronic device in hardware or firmware form or independent of the processor, or it can be stored in the memory of the electronic device in software form for the processor to call to execute the operation of each module / unit. Each module / unit can be implemented as an independent component or module, or two or more modules / units can be implemented as a single component or module.

[0174] This application also provides a platooning guidance device, including a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, it implements the steps of the aforementioned assisted parking method for the platooning guidance device.

[0175] For example, the platooning guidance device can be installed in a parking lot or a parking control console on a remote server. Alternatively, the platooning guidance device can also be installed in the guiding vehicle, specifically, the guiding vehicle includes the guiding vehicle body, with the processor and memory located within the guiding vehicle body.

[0176] In one embodiment, the platooning guidance device further includes a communication module connected to the processor for communicating with following vehicles. For example... Figure 9 As shown, the platooning guidance device is a guide vehicle, and the communication module of the guide vehicle can be the vehicle's OBU (Onboard Unit).

[0177] In one embodiment, the guide vehicle also includes cameras mounted on both sides of the vehicle body, the cameras being connected to a processor.

[0178] Specifically, the cameras on both sides can be connected to a processor to send the captured images to the processor, which then identifies available parking spaces based on these images. To improve the image acquisition angle, the two cameras can be wide-angle fisheye cameras. For example... Figure 9 As shown, two fisheye cameras are installed on either side of the guide vehicle.

[0179] This application also provides a vehicle, including a vehicle body and a following vehicle control device, the following vehicle control device being disposed on the vehicle body; the following vehicle control device includes a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, it implements the steps of the above-described assisted parking method for following vehicles.

[0180] In one embodiment, the following vehicle control device further includes a parking communication module connected to the processor for communicating with the guiding vehicle. For example... Figure 10 As shown, the parking vehicle communication module can be the vehicle's OBU (Onboard Unit).

[0181] In one embodiment, the vehicle also includes a camera mounted at the front of the vehicle body and connected to a following vehicle control device for capturing images of the vehicle in front and sending them to the following vehicle control device.

[0182] Specifically, the camera is connected to the processor to capture images of the front of the vehicle, obtaining an image of the vehicle ahead, which is then sent to the processor. The processor identifies the vehicle based on the image and can also determine the vehicle's location. To improve the image acquisition angle, a wide-angle fisheye camera can be used. For example... Figure 10 As shown, the fisheye camera is mounted on the front of the vehicle.

[0183] Using a guide vehicle as a platooning guidance device, this application provides a vehicle system for assisted parking, which consists of a guide vehicle and a following vehicle. Its operation is as follows:

[0184] 1. The guide vehicle broadcasts vehicle platooning messages. If the number of following vehicles in the platoon is insufficient or the broadcast duration is less than the preset duration, the guide vehicle continues to broadcast vehicle platooning messages. When the number of platooning vehicles reaches the required number or the platooning duration is reached, the broadcasting stops.

[0185] 2. Follow the vehicle to receive vehicle grouping messages, and broadcast grouping feedback information carrying grouping codes and vehicle information, including the vehicle's license plate number and vehicle size information.

[0186] 3. Guide the vehicles to verify the group code. If the group code is consistent with the base code corresponding to the parking position in the queue, the verification is successful, and each following vehicle is grouped.

[0187] 4. The guide vehicle sends a group confirmation message to the following vehicles, which then enter follow driving mode. The guide vehicle can then drive to the parking location.

[0188] 5. The following vehicle can obtain the preceding vehicle's data by using image recognition to collect the license plate number, coordinates, and steering angle, and broadcast its own vehicle status information and driving parameters. The following vehicle can also send the preceding vehicle's license plate number to the guiding vehicle for verification.

[0189] 6. The guide vehicle receives vehicle status information and driving parameters from each following vehicle and displays them on the human-machine interface. When the vehicle status information of a following vehicle indicates a vehicle malfunction, the guide vehicle is stopped.

[0190] 7. After guiding the vehicle to an available parking space, the parking space is assigned to the matched following vehicle based on its size information and following number. For example, it can be assigned to following vehicles with later following numbers, starting from the last vehicle in front. The following vehicle then activates its built-in assisted parking function, such as Level 2 functionality, to achieve automatic parking.

[0191] This system can guide multiple vehicles to automatically follow and park, which is both safe and reliable.

[0192] like Figure 11 As shown, this application provides a platooning guidance device or a following vehicle control device, which includes a processor 101 and a memory 102 storing computer program instructions. When the processor 101 executes the computer program instructions, it implements the steps of the aforementioned assisted parking method for platooning guidance devices or following vehicles.

[0193] In one embodiment, the platooning guidance device or following vehicle control device may include a processor, memory, network interface, communication interface, etc., connected via a system bus. The processor of the platooning guidance device or following vehicle control device can be used to provide the necessary computing, processing, and / or control capabilities. The memory of the platooning guidance device or following vehicle control device may include non-volatile storage media and internal memory. The non-volatile storage media may store an operating system, computer programs, etc. The internal memory can provide an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface and communication interface of the platooning guidance device or following vehicle control device can be used to connect and communicate with external devices via a network. When the computer program is executed by the processor, it performs the steps of the method of this application.

[0194] In addition, this application provides a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the above-described assisted parking method.

[0195] Those skilled in the art will understand that the method steps of this application can be performed by a computer program instructing related hardware, such as platooning guidance devices or following vehicle control devices or processors. The computer program can be stored in a non-transitory computer-readable storage medium, and its execution causes the steps of this application to be performed. Depending on the context, any reference herein to memory, storage, or other media may include non-volatile or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid-state drive, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0196] The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification, provided that such combination does not contain contradictions.

[0197] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An assisted parking method for use with platooning guidance equipment, characterized in that, The method includes: Broadcast vehicle platooning information; Receive platooning feedback information from the following vehicle in response to the platooning message, which carries at least a platooning code, the platooning code corresponding to the parking position of the following vehicle in the current platoon; By verifying the grouping code, at least one following vehicle in the current queue is determined, and the at least one following vehicle is controlled to form a group. After the current queue is formed, a queue confirmation message is sent to the at least one following vehicle, so that the at least one following vehicle follows the vehicle in front of it in the follow driving mode to the parking position.

2. The method according to claim 1, characterized in that, The method further includes: Determine whether the current queue is complete. If it is, stop broadcasting the vehicle queuing message.

3. The method according to claim 2, characterized in that, The step of determining whether the current queue grouping is complete further includes: Count the number of following vehicles in the current queue and determine whether the number of following vehicles in the current queue has reached the preset number; The duration of broadcasting the vehicle platooning message is recorded, and it is determined whether the broadcast duration of the vehicle platooning message has reached a preset duration; and If the duration reaches the preset duration, or if the quantity reaches the preset quantity, then the current queue is completed.

4. The method according to any one of claims 1 to 3, characterized in that, The step of determining at least one following vehicle in the current queue by verifying the platooning code and controlling the at least one following vehicle to platoon further includes: Verify that the team code is valid; If the verification passes, the following sequence number of the following vehicle in the current queue is determined based on the team code; Control the at least one following vehicle to form a platoon according to the following vehicle's sequence number.

5. The method according to claim 4, characterized in that, The grouping feedback information also includes the vehicle identification information of the following vehicles. The method further includes, after controlling the at least one following vehicle to form a group, using the grouping guidance device to perform the following steps: Receive vehicle identification information of the preceding vehicle in the queue that is being identified and sent by the following vehicle; The preceding vehicle of the following vehicle is determined based on the following sequence number; Obtain the vehicle identification information of the identified preceding vehicle from the team feedback information; as well as Based on the vehicle identification information of the identified preceding vehicle, the vehicle identification information of the following vehicle identified and sent by the following vehicle is verified to be correct. The verification result is obtained, and the corresponding queuing confirmation message is sent to the following vehicles in the queue based on the verification result.

6. The method according to claim 4, characterized in that, The grouping feedback information also includes the vehicle identification information of the following vehicle, and sending the grouping confirmation message to the at least one following vehicle further includes: The platooning guidance device determines the lead vehicle of the corresponding follower vehicle based on the follower sequence number of the at least one follower vehicle, and obtains the vehicle identification information of the determined lead vehicle from the platooning feedback information. The platooning guidance device sends a platooning confirmation message carrying the vehicle identification information of the preceding vehicle to the corresponding following vehicle. The following vehicle then determines whether the received vehicle identification information of the preceding vehicle matches the identified vehicle identification information of the preceding vehicle. If they match, the following vehicle follows the preceding vehicle in the current platoon to the parking position in follow driving mode.

7. The method according to claim 4, characterized in that, The grouping feedback information also includes the vehicle size information of the following vehicles; the method further includes: During the process of the guiding vehicle guiding at least one following vehicle to follow, if a parking position is found, the parking position is assigned to the matching following vehicle according to the vehicle size information and the following vehicle's following sequence number. After the matched following vehicle leaves the queue to park, the following vehicles in the queue are updated.

8. The method according to claim 1, characterized in that, The method further includes: Receive vehicle status information broadcast by at least one following vehicle; If the vehicle status information of a following vehicle indicates a vehicle malfunction, then the following vehicle is controlled to stop driving or leave the queue.

9. An assisted parking method for following vehicles in a platoon, characterized in that, The method includes: Receive vehicle platooning messages broadcast by the platooning guidance device; In response to the vehicle platooning message, platooning feedback information carrying at least a platooning code is provided to the platooning guidance device; the platooning code corresponds to the parking position of the following vehicle in the current platoon; Form teams according to the instructions of the team-up guidance device; Upon receiving a group confirmation message from the group guidance device, the vehicle activates the follow driving mode and follows the vehicle in front in the queue to the parking position.

10. The method according to claim 9, characterized in that, The method also includes performing the following steps using the following vehicle: Vehicle identification information of the vehicle in front is obtained by recognizing the image of the vehicle in front, which is acquired by an image acquisition device installed on the following vehicle; The vehicle identification information of the preceding vehicle is sent to the platooning guidance device so that the platooning guidance device can verify whether the identified vehicle identification information of the preceding vehicle is correct; or Upon receiving a platoon confirmation message carrying the vehicle identification information of the vehicle in front, it determines whether the received vehicle identification information of the vehicle in front is consistent with the identified vehicle identification information of the vehicle in front. If they are consistent, it activates the follow driving mode to follow the vehicle in front in the platoon to the parking position.

11. The method according to claim 9 or 10, characterized in that, The method further includes: The location information of the vehicle in front is obtained by acquiring images of the vehicle in front based on images acquired by an image acquisition device installed on the following vehicle; Obtain the driving parameters of the vehicle in front by broadcasting the driving parameters of the vehicles in the current queue; Based on the positioning information of the preceding vehicle and the driving parameters, the driving parameters of the following vehicle are adjusted to follow the preceding vehicle to the parking position.

12. The method according to claim 11, characterized in that, The driving parameters include vehicle speed, vehicle acceleration, and steering angular velocity; adjusting the driving parameters of the following vehicle based on the positioning information of the preceding vehicle and the driving parameters to follow the preceding vehicle to the parking position includes: The positioning information of the preceding vehicle, the driving parameters of the preceding vehicle, the vehicle speed of the vehicle, and the steering angular velocity of the vehicle are input into a pre-trained auxiliary control intelligent model, so as to determine the target acceleration and target steering angle of the vehicle based on the output of the auxiliary control intelligent model. Based on the target acceleration and the target steering angle, the vehicle is controlled to follow the vehicle in front to the parking position.

13. An auxiliary parking device for platooning guidance, characterized in that, include: The message sending module is configured to broadcast vehicle platooning messages; The information receiving module is configured to receive platooning feedback information, carrying at least a platooning code, sent by the following vehicle in response to the vehicle platooning message. The platooning code corresponds to the parking position of the following vehicle in the current platoon. The team control module is configured to determine at least one following vehicle in the current queue by verifying the team code, and control the at least one following vehicle to form a team. The follow control module is configured to send a grouping confirmation message to the at least one following vehicle after the current queue is formed, so that the at least one following vehicle follows the vehicle in front of it in the follow driving mode to the parking position.

14. The auxiliary parking device according to claim 13, characterized in that, The team control module includes: An encoding verification unit is configured to verify whether the team encoding is valid; The sequence number determination unit is configured to determine the following sequence number of the following vehicle in the current queue based on the grouping code when the verification passes. A teaming unit is configured to control the at least one following vehicle to team up according to the following sequence number of the following vehicle.

15. An auxiliary parking device for following vehicles in a platoon, characterized in that, include: The message receiving module is configured to receive vehicle platooning messages broadcast by the platooning guidance device; A grouping feedback module is configured to respond to the vehicle grouping message by providing grouping feedback information, carrying at least a grouping code, to the grouping guidance device; the grouping code corresponds to the parking position of the following vehicle in the current queue. The team-up module is configured to form teams according to the instructions of the team-up guidance device; The follow driving module is configured to activate the follow driving mode and follow the vehicle in front in the queue to the parking position when a queuing confirmation message is received from the queuing guidance device.

16. The auxiliary parking device according to claim 15, characterized in that, It also includes a vehicle information recognition module, configured for: The vehicle identification information of the preceding vehicle is obtained by recognizing the image of the preceding vehicle collected by the image acquisition device installed on the following vehicle, and the vehicle identification information of the preceding vehicle is sent to the platooning guidance device so that the platooning guidance device can verify whether the vehicle identification information of the preceding vehicle is correct. Alternatively, the following driving module is further used to determine whether the received vehicle identification information of the preceding vehicle is consistent with the vehicle identification information of the preceding vehicle when it receives a platooning confirmation message carrying the vehicle identification information of the preceding vehicle. If they are consistent, the following driving mode is activated to follow the preceding vehicle in the platoon to the parking position.

17. A team-building guidance device, characterized in that, It includes a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements the steps of the method according to any one of claims 1-8.

18. A vehicle, characterized in that, It includes a vehicle body and a following vehicle control device, wherein the following vehicle control device is disposed on the vehicle body; The following vehicle control device includes a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, it implements the steps of the method according to any one of claims 9-12.

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