Parking control method and vehicle

Abstract

The invention relates to a parking control method and a vehicle, and is applied to the technical field of intelligent driving. The parking control method comprises the steps that vehicle sensing information is obtained, and the vehicle sensing information comprises vehicle state information, driving operation information, environment sensing information and navigation information; determining a parking scene corresponding to the vehicle based on the vehicle sensing information; an activation condition corresponding to the parking scene is obtained, and whether the automatic parking system is activated or not is determined based on the activation condition and the vehicle sensing information; under the condition that the automatic parking system is determined to be activated, the automatic parking system is activated, and the vehicle parking operation is executed based on the automatic parking system, so that the parking scene where the vehicle is located can be determined through the vehicle sensing information, and whether the automatic parking condition is activated or not is determined by combining the activation conditions corresponding to different scenes; the flexibility of activation control of the automatic parking system is improved, the method can adapt to complex driving scenes, and the driving experience of a user is improved.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent driving technology, and in particular to a parking control method and a vehicle. Background Technology

[0002] Automatic Vehicle Hold (AVH) is an intelligent function integrated into the vehicle's electronic control system. It monitors the vehicle's status through sensors and automatically controls the braking system, so that there is no need to continuously press the brake pedal or manually pull the handbrake when parking, and the brake is automatically released when starting, aiming to improve driving convenience and safety.

[0003] The existing vehicle parking control process automatically activates the automatic parking system to park the vehicle when it meets preset conditions. This is achieved through a fixed parameter triggering mechanism, which lacks a dynamic environment adaptive mechanism and cannot adapt to complex driving scenarios, thus affecting the user's driving experience. Summary of the Invention

[0004] To address the aforementioned technical issues, this disclosure provides a parking control method and a vehicle to resolve the problem of the lack of a dynamic environment adaptive mechanism during vehicle parking control, which makes it unable to adapt to complex driving scenarios.

[0005] A first aspect of this disclosure provides a parking control method, including: Acquire vehicle perception information, which includes vehicle status information, driving operation information, environmental perception information, and navigation information; Determine the parking scenario corresponding to the vehicle based on vehicle perception information. Obtain the activation conditions corresponding to the parking scenario, and determine whether to activate the automatic parking system based on the activation conditions and vehicle perception information; If the automatic parking system is activated, the automatic parking system is activated, and vehicle parking operations are performed based on the automatic parking system.

[0006] In some embodiments of this disclosure, determining the parking scenario corresponding to the vehicle based on vehicle perception information includes: Feature extraction is performed on the vehicle perception information to obtain the feature vector corresponding to the vehicle perception information; Perform semantic analysis on the feature vectors to obtain the semantic analysis results; The parking scenario corresponding to the vehicle is determined based on the semantic analysis results.

[0007] In some embodiments of this disclosure, determining whether to activate the automatic parking system based on activation conditions and vehicle perception information includes: Target information is determined based on vehicle perception information. The target information includes at least one of the following: vehicle speed, brake pedal opening, duration of brake pedal being depressed, braking smoothness, lane line type, traffic light status at intersection, duration of preceding vehicle stationary, collision time with preceding vehicle, navigation display information, door status information, and vehicle slope. The target information is matched with the activation conditions to obtain the matching results; If the matching result is successful, activate the automatic parking system. If the matching result is a failure, the automatic parking system will not be activated.

[0008] In some embodiments of this disclosure, when the parking scenario is the first target scenario, the target information is matched with the activation conditions to obtain a matching result, including: The vehicle speed, brake pedal opening, duration of brake pedal being depressed, braking smoothness, and any one of the following in the target information, as well as the traffic light status at the intersection or the duration of the preceding vehicle being stationary, are matched with the first activation condition corresponding to the first target scenario to obtain the matching result. The first activation condition is that the vehicle speed is zero, the brake pedal opening is greater than or equal to the first opening value, the duration of brake pedal being depressed is greater than the first duration threshold, the braking smoothness is greater than the first smoothness threshold, the lane type where the vehicle is located is a stop line or zebra crossing, and the traffic light status at the intersection is red or the duration of the preceding vehicle being stationary is greater than the second duration threshold.

[0009] In some embodiments of this disclosure, when the parking scenario is the second target scenario, the target information is matched with the activation conditions to obtain a matching result, including: The vehicle speed, collision time with the vehicle in front, brake pedal opening, and duration of brake pedal being depressed in the target information are matched with the second activation conditions corresponding to the second target scenario to obtain the matching result. The second activation conditions are: vehicle speed is zero, collision time with the vehicle in front is less than or equal to the third duration threshold, brake pedal opening is greater than or equal to the second opening value and the duration of brake pedal being depressed is greater than or equal to the fourth duration threshold, the second opening value is greater than the first opening value, and the fourth duration threshold is greater than the first duration threshold.

[0010] In some embodiments of this disclosure, when the parking scenario is a third target scenario, the target information is matched with the activation conditions to obtain a matching result, including: The vehicle speed, navigation display information, brake pedal opening, duration of brake pedal being depressed, and door status information in the target message are matched with the third activation condition corresponding to the third target scenario to obtain the matching result. The third activation condition is that the vehicle speed is zero, the navigation display information shows that the destination has been reached and the brake pedal opening is greater than or equal to the third opening value, the duration of brake pedal being depressed is greater than the fifth duration threshold, the door status information is that the door is not open, the third opening value is greater than the first opening value and less than the second opening value, and the fifth duration threshold is less than the first duration threshold.

[0011] In some embodiments of this disclosure, when the parking scenario is the fourth target scenario, the target information is matched with the activation conditions to obtain a matching result, including: The vehicle speed, vehicle slope, brake pedal opening, and duration of brake pedal being depressed in the target information are matched with the fourth activation condition corresponding to the fourth target scenario to obtain the matching result. The fourth activation condition is that the vehicle speed is zero, the vehicle slope is greater than the preset slope threshold, the brake pedal opening is greater than the third opening value, and the duration of brake pedal being depressed is greater than the sixth duration threshold, while the sixth duration threshold is less than the first duration threshold.

[0012] In some embodiments of this disclosure, performing vehicle parking operations based on an automatic parking system includes: When the parking scenario is the fourth target scenario, the automatic parking system sends a braking force request to the electronic parking brake system. The braking force request is a request for the electronic parking brake system to perform vehicle braking with the maximum braking force corresponding to the electronic parking brake system. Vehicle parking operations are performed based on automatic parking systems and electronic parking brake systems.

[0013] In some embodiments of this disclosure, after determining the parking scenario corresponding to the vehicle based on vehicle perception information, the method further includes: When the parking scenario is an unknown parking scenario, the activation condition is determined as the target activation condition. The target activation condition is that the vehicle speed is zero, the brake pedal opening is greater than or equal to the seventh duration threshold, and the duration of the brake pedal being pressed is greater than or equal to the fourth duration threshold. The system determines whether to activate the automatic parking system based on the target activation conditions and vehicle perception information.

[0014] A second aspect of this disclosure provides a parking control device, comprising: The information acquisition module is used to acquire vehicle perception information, which includes vehicle status information, driving operation information, environmental perception information, and navigation information. The parking scenario determination module is used to determine the parking scenario corresponding to the vehicle based on vehicle perception information. The automatic parking system activation judgment module is used to obtain the activation conditions corresponding to the parking scenario, and determine whether to activate the automatic parking system based on the activation conditions and vehicle perception information. The parking control module is used to activate the automatic parking system when it is determined that the automatic parking system is to be activated, and to perform vehicle parking operations based on the automatic parking system.

[0015] In some embodiments of this disclosure, the parking scenario determination module is specifically used to extract features from vehicle perception information to obtain feature vectors corresponding to the vehicle perception information. Perform semantic analysis on the feature vectors to obtain the semantic analysis results; The parking scenario corresponding to the vehicle is determined based on the semantic analysis results.

[0016] In some embodiments of this disclosure, the automatic parking system activation judgment module is specifically used to determine target information based on vehicle perception information. The target information includes at least one of the following: vehicle speed, brake pedal opening, duration of brake pedal being depressed, braking smoothness, lane line type, traffic light status at intersection, duration of preceding vehicle stationary, collision time with preceding vehicle, navigation display information, door status information, and vehicle slope. The target information is matched with the activation conditions to obtain the matching results; If the matching result is successful, activate the automatic parking system. If the matching result is a failure, the automatic parking system will not be activated.

[0017] In some embodiments of this disclosure, the automatic parking system activation judgment module is further specifically used to match any one of the following in the target information when the parking scenario is the first target scenario: vehicle speed, brake pedal opening, duration of brake pedal being depressed, braking smoothness, and traffic light status or duration of preceding vehicle stationary, with the first activation condition corresponding to the first target scenario to obtain a matching result. The first activation condition is that the vehicle speed is zero, the brake pedal opening is greater than or equal to the first opening value, the duration of brake pedal being depressed is greater than the first duration threshold, the braking smoothness is greater than the first smoothness threshold, the lane type where the vehicle is located is a stop line or zebra crossing, and the traffic light status at the intersection is red or the duration of preceding vehicle stationary is greater than the second duration threshold.

[0018] In some embodiments of this disclosure, the automatic parking system activation judgment module is further specifically used to match the vehicle speed, collision time with the vehicle in front, brake pedal opening and the duration of the brake pedal being pressed in the target information with the second activation condition corresponding to the second target scenario when the parking scenario is the second target scenario, and obtain the matching result. The second activation condition is that the vehicle speed is zero, the collision time with the vehicle in front is less than or equal to the third duration threshold, the brake pedal opening is greater than or equal to the second opening value and the duration of the brake pedal being pressed is greater than or equal to the fourth duration threshold, the second opening value is greater than the first opening value, and the fourth duration threshold is greater than the first duration threshold.

[0019] In some embodiments of this disclosure, the automatic parking system activation judgment module is further specifically used to match the vehicle speed, navigation display information, brake pedal opening, duration of brake pedal being depressed, and door status information in the target information with the third activation condition corresponding to the third target scenario when the parking scenario is the third target scenario, and obtain the matching result. The third activation condition is that the vehicle speed is zero, the navigation display information shows that the destination has been reached and the brake pedal opening is greater than or equal to the third opening value, the duration of brake pedal being depressed is greater than the fifth duration threshold, the door status information is that the door is not open, the third opening value is greater than the first opening value and less than the second opening value, and the fifth duration threshold is less than the first duration threshold.

[0020] In some embodiments of this disclosure, the automatic parking system activation judgment module is further specifically used to match the vehicle speed, vehicle slope, brake pedal opening and brake pedal duration in the target information with the fourth activation condition corresponding to the fourth target scenario when the parking scenario is the fourth target scenario, and obtain the matching result. The fourth activation condition is that the vehicle speed is zero, the vehicle slope is greater than a preset slope threshold, the brake pedal opening is greater than a third opening value and the brake pedal duration is greater than a sixth duration threshold, and the sixth duration threshold is less than a first duration threshold.

[0021] In some embodiments of this disclosure, the parking control module is specifically used to send a braking force request to the electronic parking brake system based on the automatic parking system when the parking scenario is the fourth target scenario. The braking force request is a request for the electronic parking brake system to perform vehicle braking with the maximum braking force corresponding to the electronic parking brake system. Vehicle parking operations are performed based on automatic parking systems and electronic parking brake systems.

[0022] In some embodiments of this disclosure, the automatic parking system activation judgment module is also specifically used to determine the activation condition as the target activation condition when the parking scenario is an unknown parking scenario. The target activation condition is that the vehicle speed is zero, the brake pedal opening is greater than or equal to the seventh duration threshold, and the duration of the brake pedal being pressed is greater than or equal to the fourth duration threshold. The system determines whether to activate the automatic parking system based on the target activation conditions and vehicle perception information.

[0023] A third aspect of this disclosure provides an electronic device, including: processor; Memory, used to store executable instructions; The processor is used to read executable instructions from memory and execute the executable instructions to implement the parking control method provided in the first aspect above.

[0024] A fourth aspect of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the parking control method provided in the first aspect.

[0025] A fifth aspect of this disclosure provides a computer program product comprising a computer program or instructions that, when executed by a processor, implement the parking control method of the first aspect described above.

[0026] A sixth aspect of this disclosure provides a vehicle that includes electronic equipment provided in the third aspect.

[0027] The technical solution provided in this disclosure has the following advantages: The parking control method and vehicle provided in this disclosure can acquire vehicle perception information, including vehicle status information, driving operation information, environmental perception information, and navigation information. After acquiring the vehicle perception information, the corresponding parking scenario is determined based on the vehicle perception information. Furthermore, the activation conditions corresponding to the parking scenario are acquired, and the activation of the automatic parking system is determined based on the activation conditions and the vehicle perception information. If the automatic parking system is determined to be activated, it is activated, and a vehicle parking operation is performed based on the automatic parking system. Therefore, during vehicle parking control, the parking scenario of the vehicle can be determined based on the vehicle perception information, and the activation judgment of the automatic parking system can be made according to different activation conditions corresponding to different parking scenarios. This adapts to different and complex driving scenarios, thereby improving the flexibility of automatic parking system activation control. Simultaneously, the accuracy and flexibility of automatic parking system activation are improved by determining whether to activate the automatic parking system based on the activation conditions under different parking scenarios, thus enhancing the user's driving experience. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0029] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a flowchart of a parking control method provided in an embodiment of this disclosure; Figure 2 This is a flowchart of a parking scenario determination method provided in an embodiment of this disclosure; Figure 3 This is a flowchart of an automatic parking system activation determination method provided in an embodiment of this disclosure; Figure 4 This is a schematic diagram of the structure of a parking control device provided in an embodiment of this disclosure; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0031] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0032] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0033] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0035] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0036] In related technologies, the vehicle parking control process automatically activates the automatic parking system to park the vehicle when preset conditions are detected. This relies on a fixed parameter triggering mechanism, which suffers from a rigid parking mechanism, lacks dynamic environmental adaptation, and cannot adapt to complex driving scenarios, thus affecting the user's driving experience. To address this issue, this disclosure provides a parking control method, which is described below with reference to specific embodiments.

[0037] Figure 1 This is a flowchart of a parking control method provided in an embodiment of the present disclosure. The method can be executed by a parking control device, which can be implemented in software and / or hardware. The parking control device can be configured in an electronic device, such as a server or terminal, wherein the terminal specifically includes an in-vehicle terminal, a computer or a tablet computer, etc.

[0038] like Figure 1 As shown, the parking control method provided in this embodiment includes the following steps.

[0039] S110, Obtain vehicle perception information.

[0040] In this embodiment of the disclosure, vehicle perception information includes vehicle status information, driving operation information, environmental perception information, and navigation information.

[0041] In this embodiment of the disclosure, vehicle status information can be understood as the vehicle's operating status, which may specifically include information such as vehicle speed, gear information, longitudinal acceleration, lateral acceleration, steering angle, door status, seat belt status, and electronic parking brake status.

[0042] Driving operation information can be understood as the timing information of the driver's operations, which may include brake pedal travel (i.e., brake pedal opening), brake pedal force, accelerator pedal travel (i.e. accelerator pedal opening), accelerator pedal force, steering wheel angle, turn signal, and other information.

[0043] Environmental perception information can include external environment perception information, which can be relevant information about the external environment collected by external cameras (including front radar, forward-facing camera, surround-view camera, etc.). Specifically, it can include information such as the type, distance, and relative speed of target objects (such as pedestrians, vehicles, etc.) in front of the vehicle collected by the front radar / forward-facing camera; and information such as traffic light status, lane line type, road markings, and surrounding obstacles collected by the surround-view camera.

[0044] Navigation information can be understood as information such as vehicle location, route, and road conditions obtained through a navigation system. Specifically, it can include information such as the vehicle's current location, current route planning, real-time traffic congestion, whether there is an intersection or toll station ahead, and the slope the vehicle is on.

[0045] Specifically, electronic devices can acquire vehicle perception information in real time based on in-vehicle sensors, external cameras, third-party software, and other means.

[0046] S120. Determine the parking scenario corresponding to the vehicle based on vehicle perception information.

[0047] In this embodiment of the disclosure, the parking scenario can be understood as the scenario corresponding to when the vehicle stops moving.

[0048] In this embodiment of the disclosure, parking scenarios may include scenarios such as waiting at a red light at an intersection, following another vehicle in a traffic jam, arriving at the destination of a navigation system, and parking on a slope, etc., and are not limited thereto.

[0049] In this embodiment of the disclosure, after acquiring vehicle perception information, the electronic device performs semantic analysis on the vehicle perception information to obtain semantic analysis results, and determines the parking scenario corresponding to the vehicle based on the semantic analysis results.

[0050] S130. Obtain the activation conditions corresponding to the parking scenario, and determine whether to activate the automatic parking system based on the activation conditions and vehicle perception information.

[0051] In this embodiment, the activation condition can be understood as the condition for activating the automatic parking system in a parking scenario. Different parking scenarios correspond to different activation conditions.

[0052] In this embodiment of the disclosure, after determining the parking scenario corresponding to the vehicle, the electronic device determines the activation conditions corresponding to the parking scenario based on the preset correspondence between parking scenarios and activation conditions. After obtaining the activation conditions, the target information in the vehicle perception information is matched with the activation conditions to determine whether the current vehicle perception information meets the activation conditions of the automatic parking system in the parking scenario, thereby determining whether to activate the automatic parking system.

[0053] Specifically, if the current vehicle perception information meets the activation conditions of the automatic parking system in the parking scenario, the automatic parking system is activated; if the current vehicle perception information does not meet the activation conditions of the automatic parking system in the parking scenario, the automatic parking system is not activated.

[0054] S140. If it is determined that the automatic parking system is activated, activate the automatic parking system and perform vehicle parking operation based on the automatic parking system.

[0055] In this embodiment of the disclosure, when the electronic device determines that the automatic parking system is activated, it controls the automatic parking system to be turned on to activate the automatic parking system, and after activating the automatic parking system, it performs vehicle parking operations based on the automatic parking system.

[0056] In this embodiment of the disclosure, the vehicle parking operation based on the automatic parking system may specifically include: when the vehicle comes to a complete stop, i.e., the vehicle speed is zero or less than a preset vehicle speed threshold, the automatic parking system automatically locks the wheels, and the vehicle will not move even if the brake pedal is released, and the instrument panel displays a parking indicator; when it is necessary to start, for automatic transmission vehicles, lightly press the accelerator pedal (for manual transmission vehicles, the clutch needs to be released slowly at the same time), and the automatic parking system will automatically release the parking brake after detecting the power output, and the vehicle will start smoothly, without the need for manual operation of the handbrake or electronic handbrake throughout the process.

[0057] In this embodiment, vehicle perception information, including vehicle status information, driving operation information, environmental perception information, and navigation information, can be acquired. After acquiring the vehicle perception information, the parking scenario corresponding to the vehicle is determined based on the vehicle perception information. Furthermore, the activation conditions corresponding to the parking scenario are acquired, and the activation of the automatic parking system is determined based on the activation conditions and the vehicle perception information. If the activation of the automatic parking system is determined, the automatic parking system is activated, and vehicle parking operations are performed based on the automatic parking system. Therefore, during vehicle parking control, the parking scenario of the vehicle can be determined based on the vehicle perception information, and the activation judgment of the automatic parking system can be made according to different activation conditions corresponding to different parking scenarios. This adapts to different and complex driving scenarios, thereby improving the flexibility of automatic parking system activation control. Simultaneously, the accuracy and flexibility of automatic parking system activation are improved by determining whether to activate the automatic parking system based on the activation conditions under different parking scenarios, thus enhancing the user's driving experience.

[0058] In this embodiment of the disclosure, the electronic device can determine the parking scenario corresponding to the vehicle by performing feature extraction and contextual semantic analysis on vehicle perception information. The following will combine... Figure 2 A detailed introduction will be provided.

[0059] Figure 2 This is a flowchart of a parking scenario determination method provided in an embodiment of this disclosure, such as... Figure 2 As shown, determining the parking scenario corresponding to a vehicle based on vehicle perception information can specifically include the following steps: S210. Extract features from the vehicle perception information to obtain the feature vector corresponding to the vehicle perception information.

[0060] In this embodiment of the disclosure, the electronic device can extract features from vehicle perception information based on a preset machine learning model to obtain feature vectors corresponding to the vehicle perception information. The feature vector can be understood as a numerical vector generated after dimensionality reduction and abstraction of the vehicle perception information, transforming it into a mathematical representation of the vehicle perception information. Each dimension represents a key feature corresponding to the vehicle perception information.

[0061] Specifically, electronic devices can extract features from vehicle state information and driving operation information in vehicle perception information based on a preset machine learning model to obtain braking behavior feature vectors; extract features from environmental perception information to obtain following posture feature vectors and road environment feature vectors; and extract features from navigation information to obtain vehicle posture features.

[0062] The braking behavior feature vector can include information such as brake pedal opening, duration of brake pedal being depressed, and braking smoothness.

[0063] The following posture feature vector can include information such as the collision time with the vehicle in front and the rate of change of the relative distance to the vehicle in front.

[0064] The road environment feature vector can include information such as whether the vehicle is in front of the stop line at the intersection or whether the vehicle is in front of the zebra crossing.

[0065] Vehicle attitude characteristics can include information such as the slope the vehicle is on.

[0066] In the embodiments of this disclosure, the preset machine learning model can be any model capable of extracting feature vectors from data, and there are no restrictions on it.

[0067] S220. Perform semantic analysis on the feature vectors to obtain the semantic analysis results.

[0068] In this embodiment of the present disclosure, after the electronic device obtains the feature vector corresponding to the vehicle perception information, it inputs the feature vector into a preset machine learning model, and the preset machine learning model performs semantic analysis on the feature vector to obtain the semantic analysis result.

[0069] S230. Determine the parking scenario corresponding to the vehicle based on the semantic analysis results.

[0070] Specifically, after obtaining the semantic analysis results, the electronic device can make decisions based on the semantic analysis results to determine the corresponding parking scenario for the vehicle.

[0071] In this embodiment, the parking scenario corresponding to the vehicle can be determined by extracting features and performing semantic analysis on the vehicle perception information. It integrates feature information from the vehicle's multi-dimensional data and performs contextual analysis, which significantly improves the accuracy, convenience, and intelligence of parking scenario judgment, while also increasing the efficiency of parking scenario determination.

[0072] Figure 3 This is a flowchart of an automatic parking system activation determination method provided in an embodiment of this disclosure, such as... Figure 3 As shown, determining whether to activate the automatic parking system based on activation conditions and vehicle perception information can specifically include the following steps: S310. Determine target information based on vehicle perception information.

[0073] In this embodiment of the disclosure, the target information includes at least one of the following: vehicle speed, brake pedal opening, duration of brake pedal being depressed, braking smoothness, lane line type, traffic light status at intersection, duration of preceding vehicle stationary, collision time with preceding vehicle, navigation display information, door status information, and vehicle slope.

[0074] Specifically, electronic devices can obtain target information by performing feature extraction and information extraction on vehicle perception information.

[0075] In this embodiment, braking smoothness is a core indicator for measuring the dynamic performance of a vehicle during braking. It reflects the degree of fluctuation in longitudinal acceleration (deceleration), vehicle body posture control capability, and passenger comfort during the process of deceleration from slowing down to a complete stop. Essentially, it measures the uniformity of energy release.

[0076] In this embodiment of the disclosure, the braking smoothness is determined based on the standard deviation of the pedal opening during the duration the brake pedal is depressed. The smaller the standard deviation, the higher the braking smoothness, and vice versa.

[0077] S320. Match the target information with the activation conditions to obtain the matching result.

[0078] In this embodiment of the disclosure, after the electronic device obtains the target information, it matches the target information with the activation conditions based on the condition information in the activation conditions corresponding to the parking scenario to obtain the matching result.

[0079] In this embodiment of the disclosure, if the matching result is a successful match, step S330 is executed; if the matching result is a failed match, step S340 is executed.

[0080] S330. If the matching result is successful, confirm the activation of the automatic parking system.

[0081] S340. If the matching result is a failure, determine that the automatic parking system will not be activated.

[0082] In this embodiment, target information can be matched with activation conditions to control the activation of the automatic parking system. Specifically, a logical threshold decision-making mechanism achieves precise triggering and safety redundancy of the braking function. The target information serves as the input signal, and the activation condition is a preset threshold. The two are matched using Boolean logic operations (such as AND, OR, and NOT). When all key conditions are met (i.e., matching is successful), the system determines that the vehicle is in a safe parking scenario and activates the automatic parking system to avoid driver fatigue or misoperation caused by prolonged braking. If any condition is not met (i.e., matching fails), the system prohibits the activation of the automatic parking system to prevent accidental triggering of the parking function during driving and potential safety hazards. Thus, the condition-matching decision-making mechanism, through direct hardware signal interaction and software logic redundancy verification, provides dual protection, improving the convenience of parking operations, ensuring safety in extreme scenarios, reducing the risk of system malfunctions due to sensor false alarms or algorithm misjudgments, and improving the accuracy and timeliness of automatic parking system activation.

[0083] In this embodiment of the disclosure, when the parking scenario is the first target scenario, the target information is matched with the activation condition to obtain the matching result. Specifically, it may include matching any one of the following in the target information: vehicle speed, brake pedal opening, duration of brake pedal being depressed, braking smoothness, and traffic light status or duration of the preceding vehicle being stationary, with the first activation condition corresponding to the first target scenario to obtain the matching result.

[0084] In this embodiment of the disclosure, the first target scenario can be a red light scenario at an intersection; the first activation condition is that the vehicle speed is zero, the brake pedal opening is greater than or equal to the first opening value, the duration of the brake pedal being pressed is greater than the first duration threshold, the braking smoothness is greater than the first smoothness threshold, the lane line type where the vehicle is located is a stop line or a zebra crossing, and the traffic light status at the intersection is red or the duration of the vehicle in front being stationary is greater than the second duration threshold.

[0085] In this embodiment, the system can ensure that the vehicle is completely stationary by ensuring that the vehicle speed is zero, verify the driver's intention to brake actively by ensuring that the brake pedal opening is greater than or equal to a first opening value, prevent accidental triggering of parking by ensuring that the duration of the brake pedal being pressed is greater than a first duration threshold, prevent the system from activating under unsteady braking by ensuring that the braking smoothness is greater than a first smoothness threshold, and confirm that the vehicle is at an intersection by ensuring that the lane line type is located at a stop line or zebra crossing, and prevent system failure due to misjudgment of green light or brief stop of the vehicle in front by ensuring that the traffic light status at the intersection is red or the duration of the preceding vehicle being stationary is greater than a second duration threshold. This improves the accuracy and reliability of the automatic active system triggering.

[0086] In this embodiment of the disclosure, when the parking scenario is the second target scenario, the target information is matched with the activation conditions to obtain a matching result. Specifically, this may include: matching the vehicle speed, collision time with the vehicle in front, brake pedal opening, and duration of brake pedal being depressed in the target information with the second activation conditions corresponding to the second target scenario to obtain a matching result.

[0087] In this embodiment of the disclosure, the second target scenario can be a traffic jam following scenario; the second activation condition is that the vehicle speed is zero, the collision time with the vehicle in front is less than or equal to a third duration threshold, the brake pedal opening is greater than or equal to a second opening value and the duration of the brake pedal being pressed is greater than or equal to a fourth duration threshold, the second opening value is greater than the first opening value, and the fourth duration threshold is greater than the first duration threshold.

[0088] For example, the first duration threshold is 2 seconds and the fourth duration threshold is 5 seconds.

[0089] In this embodiment, the vehicle can be kept completely stationary by maintaining a zero speed, thus avoiding accidental triggering while driving. The collision time threshold introduces a dynamic risk assessment of the vehicle in front, activating the parking system in advance when the following distance is too close and the vehicle in front may stop suddenly, preventing rear-end collisions. The dual threshold design of brake pedal opening and duration verifies the driver's intention to actively brake, while filtering short-term light braking through the time dimension, ensuring reliable triggering of the system in real congested parking scenarios. It can respond quickly in high-risk scenarios such as sudden braking by the vehicle in front, and avoids malfunctions caused by the failure of a single condition or environmental interference, improving the accuracy of automatic parking system activation in the second target scenario.

[0090] In this embodiment of the disclosure, when the parking scenario is the third target scenario, the target information is matched with the activation conditions to obtain the matching result. Specifically, this may include matching the vehicle speed, navigation display information, brake pedal opening, duration of brake pedal being depressed, and door status information in the target information with the third activation conditions corresponding to the third target scenario to obtain the matching result.

[0091] In this embodiment of the disclosure, the third target scenario can be the navigation destination endpoint scenario; the third activation condition is that the vehicle speed is zero, the navigation display information shows that the destination has been reached and the brake pedal opening is greater than or equal to the third opening value, the duration of the brake pedal being pressed is greater than the fifth duration threshold, the door status information is that the door is not opened, the third opening value is greater than the first opening value and less than the second opening value, and the fifth duration threshold is less than the first duration threshold.

[0092] In this embodiment, the system confirms that the vehicle has arrived at the target location by combining the vehicle speed of zero with the navigation destination information, avoiding misjudgment of passing similar landmarks. The duration of the brake pedal being pressed verifies the driver's intention to stop actively, and filters short-term light pressing by both force and time. The door not being opened serves as a safety redundancy condition to prevent the system from misunderstanding the parking situation before the driver gets out of the car, causing the vehicle to roll downhill. This is especially suitable for parking on slopes. The multi-condition redundancy design reduces the risk of false triggering and ensures the reliable operation of the system in complex environments.

[0093] In this embodiment of the disclosure, when the parking scenario is the fourth target scenario, the target information is matched with the activation conditions to obtain a matching result. Specifically, this may include matching the vehicle speed, the slope of the vehicle, the brake pedal opening, and the duration of the brake pedal being depressed in the target information with the fourth activation conditions corresponding to the fourth target scenario to obtain a matching result.

[0094] In this embodiment of the disclosure, the fourth target scenario can be a ramp parking scenario; the fourth activation condition is that the vehicle speed is zero, the slope of the vehicle is greater than a preset slope threshold, the brake pedal opening is greater than a third opening value, and the duration of the brake pedal being pressed is greater than a sixth duration threshold, and the sixth duration threshold is less than a first duration threshold.

[0095] In this embodiment, the system identifies the vehicle as stationary on a slope by combining the vehicle speed of zero with the slope threshold, thus triggering the system in advance to address the risk of the vehicle rolling backward due to the gravitational force. The duration of the brake pedal being pressed verifies the driver's intention to stop actively, while filtering out short-term light pressing through both force and time. The slope information ensures that the system can be reliably activated in real slope parking scenarios, automatically maintaining the brake to prevent backward rolling before starting on a steep slope, improving driving safety, and avoiding accidental triggering of the automatic parking system.

[0096] In this embodiment of the disclosure, the vehicle parking operation based on the automatic parking system may specifically include: when the parking scenario is the fourth target scenario, sending a braking force request to the electronic parking brake system based on the automatic parking system, wherein the braking force request is a request for the electronic parking brake system to perform vehicle braking with the maximum braking force corresponding to the electronic parking brake system; and performing the vehicle parking operation based on the automatic parking system and the electronic parking brake system.

[0097] In this embodiment of the disclosure, in the fourth target scenario, the vehicle parking operation can be performed in a coordinated manner through the automatic parking system and the electronic parking brake system, and the safety and reliability of vehicle parking are ensured through dual braking.

[0098] In this embodiment of the disclosure, after determining the parking scenario corresponding to the vehicle based on vehicle perception information, the parking control method may further include: when the parking scenario is an unknown parking scenario, determining the activation condition as a target activation condition; and determining whether to activate the automatic parking system based on the target activation condition and the vehicle perception information.

[0099] In this embodiment of the disclosure, the target activation condition is that the vehicle speed is zero, the brake pedal opening is greater than or equal to the seventh duration threshold, and the duration for which the brake pedal is depressed is greater than or equal to the fourth duration threshold.

[0100] It should be noted that the specific implementation method for determining whether to activate the automatic parking system based on the target activation conditions and vehicle perception information is similar to the implementation method for determining whether to activate the automatic parking system based on the activation conditions and vehicle perception information in the above embodiments of this disclosure, and will not be described in detail here.

[0101] In this embodiment, when the parking scenario is unknown, a set of basic decision-making logic is used to determine whether to activate the automatic parking system. This ensures the applicability and universality of the automatic parking system and avoids the problem of being unable to perform vehicle parking control due to failure to recognize the parking scenario or recognition of an unknown parking scenario. Simultaneously, the target activation condition uses a more conservative judgment threshold to ensure that when the system cannot accurately recognize the driver's intention, it prioritizes preventing accidental activation of the function and avoiding impact on driving smoothness.

[0102] In this embodiment, the electronic device can also directly input the vehicle perception information into a target machine learning model after acquiring it. Based on the target machine learning model, feature extraction, semantic analysis, and decision analysis are performed, and the result of whether to activate the automatic parking system is output. This improves the accuracy and efficiency of vehicle parking control. The target machine learning model can be the same model as the preset machine model in the above embodiments of this disclosure, or it can be a different model; no limitation is made here.

[0103] Figure 4 This is a schematic diagram of the structure of a parking control device provided in an embodiment of this disclosure.

[0104] In this embodiment, the parking control device can be housed within an electronic device and is understood as a functional module within the aforementioned electronic device. Specifically, the electronic device can be a server or a terminal, wherein the terminal specifically includes an in-vehicle terminal, a computer, or a tablet computer, etc., without limitation.

[0105] like Figure 4 As shown, the parking control device 400 may include an information acquisition module 410, a parking scenario determination module 420, an automatic parking system activation judgment module 430, and a parking control module 440.

[0106] The information acquisition module 410 can be used to acquire vehicle perception information, which includes vehicle status information, driving operation information, environmental perception information, and navigation information. The parking scenario determination module 420 can be used to determine the parking scenario corresponding to the vehicle based on vehicle perception information. The automatic parking system activation judgment module 430 can be used to obtain the activation conditions corresponding to the parking scenario, and determine whether to activate the automatic parking system based on the activation conditions and vehicle perception information. The parking control module 440 can be used to activate the automatic parking system when it is determined that the automatic parking system is activated, and to perform vehicle parking operations based on the automatic parking system.

[0107] In this embodiment, vehicle perception information, including vehicle status information, driving operation information, environmental perception information, and navigation information, can be acquired. After acquiring the vehicle perception information, the parking scenario corresponding to the vehicle is determined based on the vehicle perception information. Furthermore, the activation conditions corresponding to the parking scenario are acquired, and the activation of the automatic parking system is determined based on the activation conditions and the vehicle perception information. If the activation of the automatic parking system is determined, the automatic parking system is activated, and vehicle parking operations are performed based on the automatic parking system. Therefore, during vehicle parking control, the parking scenario of the vehicle can be determined based on the vehicle perception information, and the activation judgment of the automatic parking system can be made according to different activation conditions corresponding to different parking scenarios. This adapts to different and complex driving scenarios, thereby improving the flexibility of automatic parking system activation control. Simultaneously, the accuracy and flexibility of automatic parking system activation are improved by determining whether to activate the automatic parking system based on the activation conditions under different parking scenarios, thus enhancing the user's driving experience.

[0108] In some embodiments of this disclosure, the parking scenario determination module 420 can be specifically used to extract features from vehicle perception information to obtain feature vectors corresponding to the vehicle perception information. Perform semantic analysis on the feature vectors to obtain the semantic analysis results; The parking scenario corresponding to the vehicle is determined based on the semantic analysis results.

[0109] In some embodiments of this disclosure, the automatic parking system activation judgment module 430 can be specifically used to determine target information based on vehicle perception information. The target information includes at least one of the following: vehicle speed, brake pedal opening, duration of brake pedal being depressed, braking smoothness, lane line type, traffic light status at intersection, duration of the preceding vehicle being stationary, collision time with the preceding vehicle, navigation display information, door status information, and the slope of the vehicle. The target information is matched with the activation conditions to obtain the matching results; If the matching result is successful, activate the automatic parking system. If the matching result is a failure, the automatic parking system will not be activated.

[0110] In some embodiments of this disclosure, the automatic parking system activation judgment module 430 can also be specifically used to match any one of the vehicle speed, brake pedal opening, duration of brake pedal being depressed, braking smoothness, and traffic light status or duration of the preceding vehicle being stationary in the target information with the first activation condition corresponding to the first target scenario when the parking scenario is the first target scenario, to obtain a matching result. The first activation condition is that the vehicle speed is zero, the brake pedal opening is greater than or equal to the first opening value, the duration of brake pedal being depressed is greater than the first duration threshold, the braking smoothness is greater than the first smoothness threshold, the lane line type where the vehicle is located is located at the stop line or zebra crossing, and the traffic light status at the intersection is red or the duration of the preceding vehicle being stationary is greater than the second duration threshold.

[0111] In some embodiments of this disclosure, the automatic parking system activation judgment module 430 can also be specifically used to match the vehicle speed, collision time with the vehicle in front, brake pedal opening and the duration of the brake pedal being pressed in the target information with the second activation condition corresponding to the second target scenario when the parking scenario is the second target scenario, and obtain the matching result. The second activation condition is that the vehicle speed is zero, the collision time with the vehicle in front is less than or equal to the third duration threshold, the brake pedal opening is greater than or equal to the second opening value and the duration of the brake pedal being pressed is greater than or equal to the fourth duration threshold, the second opening value is greater than the first opening value, and the fourth duration threshold is greater than the first duration threshold.

[0112] In some embodiments of this disclosure, the automatic parking system activation judgment module 430 can also be specifically used to match the vehicle speed, navigation display information, brake pedal opening, duration of brake pedal being depressed, and door status information in the target information with the third activation condition corresponding to the third target scenario when the parking scenario is the third target scenario, and obtain the matching result. The third activation condition is that the vehicle speed is zero, the navigation display information shows that the destination has been reached and the brake pedal opening is greater than or equal to the third opening value, the duration of brake pedal being depressed is greater than the fifth duration threshold, the door status information is that the door is not open, the third opening value is greater than the first opening value and less than the second opening value, and the fifth duration threshold is less than the first duration threshold.

[0113] In some embodiments of this disclosure, the automatic parking system activation judgment module 430 can also be specifically used to match the vehicle speed, vehicle slope, brake pedal opening and brake pedal pressing duration in the target information with the fourth activation condition corresponding to the fourth target scenario when the parking scenario is the fourth target scenario, and obtain the matching result. The fourth activation condition is that the vehicle speed is zero, the vehicle slope is greater than a preset slope threshold, the brake pedal opening is greater than a third opening value and the brake pedal pressing duration is greater than a sixth duration threshold, and the sixth duration threshold is less than a first duration threshold.

[0114] In some embodiments of this disclosure, the parking control module 440 can be specifically used to send a braking force request to the electronic parking brake system based on the automatic parking system when the parking scenario is the fourth target scenario. The braking force request is a request for the electronic parking brake system to perform vehicle braking with the maximum braking force corresponding to the electronic parking brake system. Vehicle parking operations are performed based on automatic parking systems and electronic parking brake systems.

[0115] In some embodiments of this disclosure, the automatic parking system activation judgment module 430 can also be specifically used to determine the activation condition as the target activation condition when the parking scenario is an unknown parking scenario. The target activation condition is that the vehicle speed is zero, the brake pedal opening is greater than or equal to the seventh duration threshold, and the duration of the brake pedal being pressed is greater than or equal to the fourth duration threshold. The system determines whether to activate the automatic parking system based on the target activation conditions and vehicle perception information.

[0116] It should be noted that, Figure 4 The parking control device 400 shown can execute the various steps in the above method embodiments and achieve the various processes and effects in the above method embodiments, which will not be elaborated here.

[0117] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure.

[0118] In this embodiment of the disclosure, Figure 5 The electronic device shown can be a server or a terminal. Specifically, the terminal includes in-vehicle terminals, computers, or tablets, etc., without limitation.

[0119] like Figure 5 As shown, the electronic device may include a processor 510 and a memory 520 storing computer program instructions.

[0120] Specifically, the processor 510 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this disclosure.

[0121] Memory 520 may include a large-capacity storage device for information or instructions. For example, and not limitingly, memory 520 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 520 may include removable or non-removable (or fixed) media. Where appropriate, memory 520 may be internal or external to the integrated gateway device. In a particular embodiment, memory 520 is a non-volatile solid-state memory. In a particular embodiment, memory 520 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (Electrically Programmable ROM, EPROM), an electrically erasable programmable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0122] The processor 510 reads and executes computer program instructions stored in the memory 520 to perform the steps of the parking control method provided in the embodiments of this disclosure.

[0123] In one example, the electronic device may also include a transceiver 530 and a bus 540. Wherein, as... Figure 5 As shown, the processor 510, memory 520 and transceiver 530 are connected via bus 540 and communicate with each other.

[0124] Bus 540 may include hardware, software, or both. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 540 may include one or more buses.

[0125] This disclosure also provides a computer-readable storage medium that can store a computer program, which, when executed by a processor, enables the processor to implement the parking control method provided in this disclosure.

[0126] When the computer program is executed by the processor, the processor performs the following steps: acquiring vehicle perception information, including vehicle status information, driving operation information, environmental perception information, and navigation information; determining the parking scenario corresponding to the vehicle based on the vehicle perception information; acquiring the activation conditions corresponding to the parking scenario, and determining whether to activate the automatic parking system based on the activation conditions and the vehicle perception information; if it is determined that the automatic parking system should be activated, activating the automatic parking system, and performing vehicle parking operations based on the automatic parking system.

[0127] Therefore, during vehicle parking control, the parking scenario can be determined based on vehicle perception information. The activation of the automatic parking system can be determined according to different activation conditions under different parking scenarios, adapting to various and complex driving scenarios. This improves the flexibility of automatic parking system activation control. Simultaneously, the system can determine whether to activate the automatic parking system based on activation conditions under different parking scenarios, improving the accuracy and flexibility of automatic parking system activation, thereby enhancing the user's driving experience.

[0128] In some embodiments of this disclosure, determining the parking scenario corresponding to a vehicle based on vehicle perception information includes: extracting features from the vehicle perception information to obtain a feature vector corresponding to the vehicle perception information; performing semantic analysis on the feature vector to obtain a semantic analysis result; and determining the parking scenario corresponding to the vehicle based on the semantic analysis result.

[0129] In some embodiments of this disclosure, determining whether to activate the automatic parking system based on activation conditions and vehicle perception information includes: determining target information based on vehicle perception information, the target information including at least one of the following: vehicle speed, brake pedal opening, duration of brake pedal being depressed, braking smoothness, lane line type, traffic light status at intersection, duration of preceding vehicle stationary, collision time with preceding vehicle, navigation display information, door status information, and vehicle slope; matching the target information with activation conditions to obtain a matching result; determining to activate the automatic parking system if the matching result is successful; and determining not to activate the automatic parking system if the matching result is unsuccessful.

[0130] In some embodiments of this disclosure, when the parking scenario is the first target scenario, the target information is matched with the activation conditions to obtain a matching result. This includes matching any one of the following in the target information: vehicle speed, brake pedal opening, duration of brake pedal being depressed, braking smoothness, and traffic light status or duration of preceding vehicle stationary, with the first activation condition corresponding to the first target scenario to obtain a matching result. The first activation condition is that the vehicle speed is zero, the brake pedal opening is greater than or equal to the first opening value, the duration of brake pedal being depressed is greater than the first duration threshold, the braking smoothness is greater than the first smoothness threshold, the lane type where the vehicle is located is a stop line or zebra crossing, and the traffic light status is red or the duration of preceding vehicle stationary is greater than the second duration threshold.

[0131] In some embodiments of this disclosure, when the parking scenario is the second target scenario, the target information is matched with the activation conditions to obtain a matching result. This includes matching the vehicle speed, collision time with the vehicle in front, brake pedal opening, and duration of brake pedal being depressed in the target information with the second activation conditions corresponding to the second target scenario to obtain a matching result. The second activation conditions are: the vehicle speed is zero, the collision time with the vehicle in front is less than or equal to a third duration threshold, the brake pedal opening is greater than or equal to a second opening value, and the duration of brake pedal being depressed is greater than or equal to a fourth duration threshold. The second opening value is greater than the first opening value, and the fourth duration threshold is greater than the first duration threshold.

[0132] In some embodiments of this disclosure, when the parking scenario is the third target scenario, the target information is matched with the activation conditions to obtain a matching result. This includes matching the vehicle speed, navigation display information, brake pedal opening, duration of brake pedal being depressed, and door status information in the target information with the third activation conditions corresponding to the third target scenario to obtain a matching result. The third activation conditions are: the vehicle speed is zero, the navigation display information shows that the destination has been reached and the brake pedal opening is greater than or equal to the third opening value, the duration of brake pedal being depressed is greater than the fifth duration threshold, the door status information is that the door is not open, the third opening value is greater than the first opening value and less than the second opening value, and the fifth duration threshold is less than the first duration threshold.

[0133] In some embodiments of this disclosure, when the parking scenario is the fourth target scenario, the target information is matched with the activation conditions to obtain the matching result. This includes matching the vehicle speed, the slope of the vehicle, the brake pedal opening, and the duration of the brake pedal being depressed in the target information with the fourth activation condition corresponding to the fourth target scenario to obtain the matching result. The fourth activation condition is that the vehicle speed is zero, the slope of the vehicle is greater than a preset slope threshold, the brake pedal opening is greater than a third opening value, and the duration of the brake pedal being depressed is greater than a sixth duration threshold. The sixth duration threshold is less than a first duration threshold.

[0134] In some embodiments of this disclosure, performing vehicle parking operations based on the automatic parking system includes: when the parking scenario is a fourth target scenario, sending a braking force request to the electronic parking brake system based on the automatic parking system, wherein the braking force request is a request for the electronic parking brake system to perform vehicle braking with the maximum braking force corresponding to the electronic parking brake system; and performing vehicle parking operations based on the automatic parking system and the electronic parking brake system.

[0135] In some embodiments of this disclosure, after determining the parking scenario corresponding to the vehicle based on vehicle perception information, the method further includes: when the parking scenario is an unknown parking scenario, determining the activation condition as a target activation condition, wherein the target activation condition is that the vehicle speed is zero, the brake pedal opening is greater than or equal to the seventh duration threshold, and the duration of the brake pedal being depressed is greater than or equal to the fourth duration threshold; and determining whether to activate the automatic parking system based on the target activation condition and the vehicle perception information.

[0136] The aforementioned storage medium may, for example, include a memory 520 containing computer program instructions, which can be executed by a processor 510 of an electronic device to complete the parking control method provided in this embodiment. Optionally, the storage medium may be a non-transitory computer-readable storage medium, such as read-only memory (ROM), random access memory (RAM), external cache memory, compact disc ROM (CD-ROM), magnetic tape, floppy disk, flash memory, and optical data storage devices. By way of illustration and not limitation, RAM is available in various forms, such as static random access memory (SRAM) and dynamic random access memory (DRAM).

[0137] This disclosure also provides a vehicle that includes electronic devices that can implement the various processes and effects described in the above embodiments of this disclosure, which will not be elaborated here.

[0138] This disclosure also provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a processor, they implement the parking control method provided in this disclosure and can achieve the various processes and effects in the above-described embodiments of this disclosure, which will not be elaborated here.

[0139] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A parking control method characterized by, The method comprises: obtaining vehicle perception information, the vehicle perception information comprising vehicle state information, driving operation information, environment perception information, navigation information; determining a parking scene corresponding to the vehicle based on the vehicle perception information; obtaining an activation condition corresponding to the parking scene, and determining whether to activate an automatic parking system based on the activation condition and the vehicle perception information; in a case where it is determined to activate the automatic parking system, activating the automatic parking system, and performing a vehicle parking operation based on the automatic parking system.

2. The method of claim 1, wherein, The determination of the parking scene corresponding to the vehicle based on the vehicle perception information comprises: feature extraction on the vehicle perception information to obtain a feature vector corresponding to the vehicle perception information; semantic analysis on the feature vector to obtain a semantic analysis result; determination of the parking scene corresponding to the vehicle based on the semantic analysis result.

3. The method of claim 1, wherein, The determination of whether to activate the automatic parking system based on the activation condition and the vehicle perception information comprises: determination of target information based on the vehicle perception information, the target information comprising at least one of a vehicle speed, a brake pedal opening degree, a duration of the brake pedal being stepped on, a brake smoothness, a lane line type, an intersection traffic light state, a preceding vehicle stationary duration, a collision time with the preceding vehicle, navigation display information, vehicle door state information, and a slope at which the vehicle is located; matching of the target information with the activation condition to obtain a matching result; in a case where the matching result is a matching success, determination to activate the automatic parking system; in a case where the matching result is a matching failure, determination not to activate the automatic parking system.

4. The method of claim 3, wherein, In a case where the parking scene is a first target scene, the matching of the target information with the activation condition to obtain a matching result comprises: matching of any one of the vehicle speed, the brake pedal opening degree, the duration of the brake pedal being stepped on, the brake smoothness, the intersection traffic light state, or the preceding vehicle stationary duration in the target information with a first activation condition corresponding to the first target scene to obtain the matching result, the first activation condition being that the vehicle speed is zero, the brake pedal opening degree is greater than or equal to a first opening degree value, the duration of the brake pedal being stepped on is greater than a first duration threshold, the brake smoothness is greater than a first smoothness threshold, the lane line type at which the vehicle is located is located at a stop line or a zebra crossing, and the intersection traffic light state is red or the preceding vehicle stationary duration is greater than a second duration threshold.

5. The method of claim 3, wherein, In a case where the parking scene is a second target scene, the matching of the target information with the activation condition to obtain a matching result comprises: matching of the vehicle speed, the collision time with the preceding vehicle, the brake pedal opening degree, and the duration of the brake pedal being stepped on in the target information with a second activation condition corresponding to the second target scene to obtain the matching result, the second activation condition being that the vehicle speed is zero, the collision time with the preceding vehicle is less than or equal to a third duration threshold, the brake pedal opening degree is greater than or equal to a second opening degree value and the duration of the brake pedal being stepped on is greater than or equal to a fourth duration threshold, the second opening degree value being greater than the first opening degree value, and the fourth duration threshold being greater than the first duration threshold.

6. The method of claim 3, wherein, When the parking scene is the third target scene, the matching the target information with the activation condition to obtain a matching result comprises: matching the vehicle speed, the navigation display information, the brake pedal opening degree, the duration of the brake pedal being stepped on, and the door state information in the target information with a third activation condition corresponding to the third target scene to obtain a matching result, the third activation condition being that the vehicle speed is zero, the navigation display information is navigation display reaching a destination, and the brake pedal opening degree is greater than or equal to a third opening degree value, the duration of the brake pedal being stepped on is greater than a fifth duration threshold, and the door state information is that the door is not opened, the third opening degree value being greater than the first opening degree value and less than the second opening degree value, and the fifth duration threshold being less than the first duration threshold.

7. The method of claim 3, wherein, When the parking scene is the fourth target scene, the matching the target information with the activation condition to obtain a matching result comprises: matching the vehicle speed, the slope where the vehicle is located, the brake pedal opening degree, and the duration of the brake pedal being stepped on in the target information with a fourth activation condition corresponding to the fourth target scene to obtain a matching result, the fourth activation condition being that the vehicle speed is zero, the slope where the vehicle is located is greater than a preset slope threshold, the brake pedal opening degree is greater than a third opening degree value, and the duration of the brake pedal being stepped on is greater than a sixth duration threshold, the sixth duration threshold being less than the first duration threshold.

8. The method of claim 7, wherein, The executing a vehicle parking operation based on the automatic parking system comprises: when the parking scene is the fourth target scene, sending, based on the automatic parking system, a brake force request to an electronic parking brake system, the brake force request being a request for the electronic parking brake system to execute vehicle braking at a maximum brake force corresponding to the electronic parking brake system; executing a vehicle parking operation based on the automatic parking system and the electronic parking brake system.

9. The method of claim 1, wherein, After determining the parking scene corresponding to the vehicle based on the vehicle perception information, the method further comprises: when the parking scene is an unknown parking scene, determining that the activation condition is a target activation condition, the target activation condition being that the vehicle speed is zero, the brake pedal opening degree is greater than or equal to a seventh duration threshold, and the duration of the brake pedal being stepped on is greater than or equal to a fourth duration threshold; determining whether to activate the automatic parking system based on the target activation condition and the vehicle perception information.

10. A vehicle characterized by comprising: comprise: a processor; a memory for storing executable instructions; wherein the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the parking control method of any one of claims 1-9.

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