Vehicle automatic parking method, electronic device, computer readable storage medium, computer program and vehicle

Abstract

The invention discloses a vehicle automatic parking-out method and a related device, and the method comprises the steps: recognizing whether a vehicle is in a parking-out limited state or not through the collection of parking space environment data, the combination of the historical parking of a user, map data and other modes when the vehicle is in a parking-out preparation state. If the user is in the limited state, a prompt is pushed to the user through mobile terminal equipment such as a mobile phone and a watch, parking-out schemes such as valet parking-out and automatic parking-out are provided, the corresponding schemes are executed according to user selection, and the execution process relates to path planning and various action combinations. In addition, the invention also discloses an electronic device, a computer readable storage medium and a computer program for realizing the method, and a vehicle comprising the electronic device, so that the convenience and the intelligent degree of vehicle parking are effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent vehicle control, in particular to a vehicle automatic parking-out method, an electronic device, a computer readable storage medium, a computer program and a vehicle. BACKGROUND

[0002] At present, vehicles can smoothly pass through narrow roads and realize parking operation in limited parking spaces by means of multi-motor control and rear wheel steering technology. These technology products to some extent alleviate the plight encountered by users in the low-speed driving and parking link. However, the application scenarios thereof mainly concentrate on driving assistance in the dynamic driving and starting stages of vehicles, and are helpless in static scenarios, such as when a vehicle is trapped in a parking space and needs to be parked out. In addition, due to the deviation of the environment perception system under dynamic conditions, the judgment of the vehicle on the spatial distance in difficult scenarios tends to be conservative, and it is difficult to accurately identify the actual situation, so as to fail to timely and effectively provide the user with function execution suggestions. SUMMARY

[0003] The present application provides a vehicle automatic parking-out method, an electronic device, a computer readable storage medium, a computer program and a vehicle.

[0004] In a first aspect, the present application provides a vehicle automatic parking-out method, which comprises: identifying that a vehicle is in a parking-out limited state when the vehicle is in a preparation parking-out state; and pushing a parking-out limited prompt. The preparation parking-out state is a state before the vehicle starts parking again after parking.

[0005] Through the method provided in the first aspect, the user can receive the prompt that the vehicle is in the parking-out limited state at the moment in the static environment, i.e. before the vehicle is prepared to be used, so as to facilitate the subsequent use of the vehicle automatic parking-out function.

[0006] In a possible design, the vehicle is in the preparation parking-out state when the distance between the user and the vehicle is less than a set distance, or when the vehicle is started by remote control through a first mobile terminal device.

[0007] In a possible design, the distance between the user and the vehicle can be obtained by an environment perception device of the vehicle, or obtained according to a second mobile terminal device carried by the user.

[0008] In a possible design, first parking space environment data is collected; and the vehicle is identified to be in the parking-out limited state according to the first parking space environment data.

[0009] In a possible design, second parking space environment data is collected when the vehicle is in a parking-out completed state.

[0010] In a possible design, the vehicle is in the parking-out completion state when the distance between the user and the vehicle is greater than a set distance.

[0011] In a possible design, the distance between the user and the vehicle can be acquired by an environment sensing device of the vehicle, or acquired according to a second mobile terminal device carried by the user.

[0012] In a possible design, the environment sensing device of the vehicle includes one or more of a camera, an ultrasonic radar, and a laser radar.

[0013] In a possible design, the first parking space environment data and the second parking space environment data are compared, and it is identified that the vehicle is in the parking-out restricted state.

[0014] In a possible design, the pushing of the parking-out restricted prompt includes: pushing, by a third mobile terminal device, parking-out restricted information to the user; the third mobile terminal device includes one or more of a mobile phone, a watch, and glasses.

[0015] In a possible design, the method further includes: pushing a parking-out scheme.

[0016] In a possible design, the method further includes: executing the parking-out scheme according to a selection of the user.

[0017] In a possible design, the parking-out scheme includes valet parking and automatic parking; the valet parking is parking out of the vehicle by remote control before the user gets into the vehicle; and the automatic parking is parking out of the vehicle by an intelligent driving system after the user gets into the vehicle.

[0018] In a possible design, the intelligent driving system controlling the vehicle to park out includes: parking-out path planning; and controlling the vehicle to perform one or more of a combination of actions including rolling, rotating, and translating.

[0019] In a possible design, the vehicle is determined to be in the parking-out restricted state according to historical parking data of the user and map data, and the parking-out restricted prompt is pushed to the user.

[0020] In a possible design, the vehicle is determined to be in the parking-out restricted state according to historical parking data of the user and map data, including: when the user is pushed the parking-out restricted prompt at least once at the same location, the vehicle is determined to be in the parking-out restricted state.

[0021] In a second aspect, the present application provides an electronic device, including: a memory configured to store executable code; and a processor configured to execute the executable code to implement the method described above.

[0022] In a third aspect, the present application provides a computer readable storage medium, having stored thereon a computer program, which, when executed in a computer, causes the computer to perform the method described above.

[0023] In a fourth aspect, the present application provides a computer program, comprising instructions which, when executed in a computer, implement the method described above.

[0024] In a fifth aspect, the present application provides a vehicle comprising the electronic device described above.

[0025] By fusing multi-sensor and large model analysis, the parking-out restricted state is accurately identified, and various parking-out schemes are provided; with the help of big data active prediction and push, multi-device interaction is realized, the parking efficiency and user experience are improved, and the risk is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 A method flow chart for vehicle automatic parking provided by the embodiment of the present application

[0027] FIGS. 2(a), (b) and (c) are schematic diagrams of a scenario in which a vehicle is in a parking-out restricted state provided by the embodiment of the present application

[0028] Figure 3 A schematic diagram of a mobile terminal device entering an identification area provided by the embodiment of the present application

[0029] Figure 4 A large model training schematic diagram of a vehicle in a parking-out restricted state provided by the embodiment of the present application

[0030] Figure 5 A method flow chart for another vehicle automatic parking provided by the embodiment of the present application DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings.

[0032] The terms "first" and "second" and the like in the specification of the present application, claims and drawings are used to distinguish different objects, and are not used to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of operations or units is not limited to the listed operations or units, but can optionally include operations or units not listed or can optionally include other operations or units inherent to the process, method, product or device.

[0033] Reference to“an embodiment” herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase“in one embodiment” in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all directed to the other embodiments. It is explicitly contemplated that embodiments described herein can be combined with each other in their individual aspects.

[0034] In this application, “at least one” means one or more, “multiple” means two or more, “at least two” means two or three or more, and / or is used to describe the relationship between the corresponding objects, indicating that there can be three relationships, for example, “A and / or B” can represent: only A, only B, and A and B exist at the same time, where A and B can be singular or plural. The character“ / ” generally represents the corresponding objects before and after are“or” relationship. “At least one” or the like refers to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c can represent: a, b, c, “a and b”, “a and c”, “b and c”, or “a and b and c”, where a, b, and c can be single or multiple.

[0035] Reference to Figure 1 , Figure 1 is a vehicle automatic parking-out method flowchart provided by an embodiment of the application. As shown in Figure 1 , the method comprises:

[0036] S110 identifies that the vehicle is in a parking-out restricted state when the vehicle is in a state of preparing to park out. When the system determines that the vehicle enters the state of preparing to park out, one or more sensors such as a camera, an ultrasonic radar, and a laser radar in the vehicle surround view perception system work cooperatively. The camera captures images of the parking space and the surrounding environment at a high frame rate, the ultrasonic radar detects the distance between the vehicle and the surrounding obstacles in real time, and the laser radar constructs a high-precision three-dimensional space point cloud model to collect comprehensive and accurate first parking space environment data. At the same time, the system retrieves second parking space environment data collected and stored by the vehicle when the vehicle is in a parking-out completed state (i.e., the user is away from the vehicle and the distance between the user and the vehicle is greater than a set distance, at which time the system automatically records the environmental state) from a vehicle storage module. Subsequently, the first parking space environment data and the second parking space environment data are input into a deep learning-based visual language large model. The model uses an image feature extraction algorithm to identify changes in the shape, position, size, etc. of objects around the parking space; compares the spatial dimensions in the two sets of data through a spatial distance calculation model to determine whether there are new obstacles, narrowed spaces, etc.; and uses semantic understanding technology to analyze the degree of influence of environmental changes on vehicle parking out. Finally, based on the comprehensive analysis results of the model, it is accurately determined whether the vehicle is in a parking-out restricted state, i.e., a state in which ordinary intelligent parking or manual operation parking out is difficult.

[0037] S120 pushes a parking-out restricted prompt.

[0038] The parking-out restricted prompt is pushed. Once the system identifies that the vehicle is in a parking-out restricted state through the above steps, the information pushing mechanism is immediately started. The communication module at the vehicle end establishes a connection with a third mobile terminal device (such as a mobile phone, a smart watch, smart glasses, etc. that have networking functions) carried by the user, and the connection can be achieved based on Bluetooth, Wi-Fi, 4G / 5G, etc. communication technology. Then, the vehicle end generates a prompt information containing the parking-out restricted reason (such as “a new obstacle is added in front of the parking space, and ordinary parking cannot pass”), a brief description of the current parking space environment (presented in the form of text, pictures, or animations), and various parking-out solutions (valet parking, automatic parking, etc.) according to the preset pushing rules and user preference settings. Then, through the application program corresponding to the mobile terminal device, the parking-out restricted prompt is pushed to the user in various ways such as pop-up messages, voice broadcasting, and vibration reminders, to ensure that the user can timely and clearly obtain the vehicle state information and prepare for subsequent operations.

[0039] S130 the state of preparing to park out is a state before the vehicle parks again after parking.

[0040] The state of preparing to park out is the state of the vehicle after parking and before starting to park out again. Specifically, the system determines whether the vehicle enters the state of preparing to park out through a double judgment mechanism. On the one hand, the distance between the user and the vehicle is continuously monitored, which can be measured in real time by a vehicle environment perception device such as a UWB ultra-wideband positioning module, a Bluetooth positioning module, etc., or can be calculated according to the communication signal strength and positioning information of the second mobile terminal device (such as a UWB mobile phone key) carried by the user and the vehicle. When the user gradually approaches the vehicle and the distance between the user and the vehicle is less than a set distance (for example, 2 meters), the system preliminarily determines that the vehicle may enter the state of preparing to park out. On the other hand, if the user remotely sends a vehicle start instruction through the first mobile terminal device (such as a mobile phone APP), the system will also determine that the vehicle enters the state of preparing to park out after receiving the instruction. When any of the above conditions is met, the system formally determines that the vehicle is in the state of preparing to park out, and then starts the parking-out restricted state recognition process in step S110 to provide subsequent intelligent parking assistance services for the user.

[0041] Referring to FIG. 2, FIGS. 2(a), (b) and (c) are schematic diagrams of a scenario in which a vehicle is in a parking-out restricted state provided by the application embodiment

[0042] In FIG. 2(a), a scenario in which an obstacle exists in the side front of the vehicle causes the vehicle to be in a parking-out restricted state is shown. This diagram shows a scenario in which an obstacle or an obstacle vehicle exists in the side front of the vehicle, causing the parking-out of the parking space to be restricted. The following is a detailed description of the scenario: The area identified by the blue dashed box in the diagram represents a parking space in which the vehicle is parked, marked as "e4". This is the initial parking position of the vehicle, which is within a regular parking space plan. A vehicle is parked above the parking space, and the vehicle body is light-colored. The vehicle is in a stationary state in the parking space, and is the target vehicle that needs to be parked out of the parking space in this scenario. In the side front area of the parking space, there is a hatched area marked as "obstacle or obstacle vehicle". This indicates that there is an obstacle in the side front of the vehicle on the path of the vehicle preparing to park out, which can be a fixed obstacle such as a wall or a flower bed, or a temporarily parked vehicle, thereby causing the vehicle to be unable to smoothly park out of the parking space in the regular manner. The parking space is located on one side of the road, and there are white markings on the road indicating the direction of vehicle travel, and the arrow direction in the diagram indicates that the direction of vehicle travel on the road is to the left. As can be seen from the diagram, the obstacle or obstacle vehicle is located in the side front of the vehicle, rather than the front or side. This position causes the vehicle to be hindered when driving forward or translating sideways. The vehicle needs a certain space to perform turning, moving, etc. when normally parking out, but due to the existence of the obstacle, the available space is compressed, and ordinary intelligent parking-out systems or manual driving parking-out will face difficulties, which is a typical parking-out restricted situation of the parking space.

[0043] For a general intelligent parking-out system, its preset parking-out path planning algorithm is usually designed based on the non-obstacle or regular obstacle scenario. In this scenario, the obstacle in the side-front will interfere with the system's path planning, resulting in the inability to generate an effective parking-out path, thus making the intelligent parking-out function unavailable.

[0044] If the user chooses to manually drive the vehicle out, due to the particularity of the obstacle position, the driver has great difficulty in judging the distance between the vehicle and the obstacle, and the operable space is extremely limited. A slight mistake may cause the vehicle to collide with the obstacle, causing damage to the vehicle, so manual driving parking-out also becomes very difficult.

[0045] Fig. 2(b) is a schematic diagram of a scenario where the vehicle is in a parking-out restricted state due to obstacles on both sides. The area marked by the blue dashed line in the figure is a parking space, marked as "e4". This is the position of the vehicle parked in the channel next to the two sides of other vehicles parked, which is a standard roadside parking space. A light-colored vehicle is parked on the right side of the parking space, which is the target vehicle that needs to be parked out of the parking space. The vehicle is in a stationary state, waiting for parking-out operation. In the side-front of the parking space (the side area in the direction of vehicle advancement), there is a road, and at the end of the road there is a part marked as "wall or obstacle". This indicates that there is a wall, railing or other fixed obstacle, or a temporarily parked vehicle, etc. occupying the space required for normal parking-out of the vehicle on the path of the vehicle preparing to park out. There are several parked vehicles on both sides of the parking space, limiting the space for lateral movement of the vehicle, further increasing the difficulty of parking-out. The target vehicle usually needs to drive forward and perform a steering operation to park out of the parking space. However, the wall or obstacle in the side-front severely limits the space for the vehicle to perform this series of actions. The vehicle cannot leave the parking space in the conventional straight-ahead or small-angle steering manner, because the obstacle occupies the critical movement space, making it difficult to implement ordinary parking-out operations.

[0046] Fig. 2(c) is a schematic diagram of a scenario where the vehicle is in a parking-out restricted state due to obstacles in the front.

[0047] The blue dashed box in the figure represents a parking space, marked as "e4". This is the location where the vehicle is parked, in a parking area next to the road, belonging to the common form of curb parking. A light-colored vehicle is parked in the parking space, which is the target vehicle that needs to be parked out of the parking space. It is in a stationary state, waiting for the parking-out operation. On both sides of the target vehicle, other vehicles are also parked, limiting the space for the target vehicle to move laterally. On one side of the road, there is an area filled with diagonal lines, marked as "obstacle or obstacle vehicle". This indicates that there is an obstacle in front and to the side of the vehicle, which may be a fixed object such as a wall, a barrier, etc., or other parked vehicles, blocking the normal parking-out route of the vehicle. The parking space is next to a road, with white markings and directional arrows on the road, indicating the direction of vehicle travel, showing the rules of two-way traffic on the road.

[0048] The target vehicle needs to be parked out of the parking space, which normally needs to move forward and perform a turning operation to enter the road. However, the obstacle in front and to the side of the vehicle makes it difficult to perform these actions. The position of the obstacle makes it impossible for the vehicle to directly enter the road in the conventional manner, as it occupies the required movement space for the vehicle, making it difficult to achieve a normal straight-line travel or small-angle turning parking-out operation.

[0049] Referring to Figure 3 , Figure 3 A schematic diagram of a mobile terminal device entering a recognition area is provided for embodiments of the present application.

[0050] The figure shows the position recognition relationship between the vehicle and the user's mobile terminal device. The vehicle is in the center, surrounded by two concentric circular areas represented by dashed lines, Z01 first recognition zone and Z02 second recognition zone, which define the recognition range of the user's mobile terminal device position by the vehicle. On the right side of the figure, there is an icon representing the mobile terminal device, indicating that the user can carry the device to move in different areas, and the vehicle intelligent entry system will make relevant judgments based on this.

[0051] When the user finishes parking and gets off the vehicle, the vehicle intelligent entry system continues to monitor the distance between the mobile terminal (such as the vehicle key) carried by the user and the vehicle. The distance between the mobile terminal device and the vehicle is a key basis for judging the user's behavior intention. As the user carrying the mobile terminal device gradually moves away from the vehicle, once the mobile terminal device leaves the range of the Z02 second identification zone around the vehicle, the vehicle intelligent entry system determines that the user has the intention to get off the vehicle. The reason for choosing the Z02 second identification zone as the boundary for judging the intention to get off the vehicle is that the range of this area is relatively large, which can ensure that the system accurately identifies the behavior of getting off the vehicle after the user normally leaves the vehicle at a certain distance, avoiding misjudgment. After judging that the user gets off the vehicle, the vehicle collects data based on the vehicle surround view perception system (composed of multiple cameras, radars and other sensors installed on the vehicle) on the surrounding environment of the vehicle, records the environmental state at this time, and marks it as S01. This environmental state data contains information such as the distribution of obstacles around the vehicle, the parking position of other vehicles, and the space condition around the parking space, providing initial data reference for subsequent judgment of the parking-out state of the parking space.

[0052] When the user prepares to return to use the vehicle and moves the mobile terminal device towards the vehicle. When the mobile terminal device enters the range of the Z02 second identification zone around the vehicle, the vehicle intelligent entry system can perceive the approach of the mobile terminal device, and according to its behavior of entering this area, judge that the user has the intention to return to use the vehicle. After judging that the user has the intention to return to use the vehicle, the vehicle collects data based on the vehicle surround view perception system on the current surrounding environment of the vehicle, records the environmental state at this time, and marks it as S02. By comparing S02 with S01 recorded before, it can be analyzed whether the environment around the parking space has changed during the user's getting off the vehicle, such as whether there are new obstacles, changes in the position of other vehicles, etc., so as to further judge whether the vehicle is in the parking-out restricted state.

[0053] By comparing and analyzing the parking space environment state data at two different time points S01 and S02, using the deep learning and image recognition, data processing and other technologies of the large model, it can be judged whether the vehicle is in the parking-out restricted state. For example, if a new obstacle (such as other parked vehicles, fixed walls, etc.) is detected in front of the side of the parking space in S2, and the position and size of the obstacle affect the normal parking-out path of the vehicle, the large model will comprehensively judge that the vehicle is in the parking-out restricted state.

[0054] Subsequent operation trigger: once it is judged that the vehicle is in the parking-out restricted state, the vehicle system will trigger the corresponding operation. For example, through the mobile terminal device, the user is prompted to park out of the restricted state, informed of the difficulties faced by the current vehicle, and provided with corresponding parking-out solutions (such as customer parking-out, automatic parking-out, etc.) for the user to choose, to help the user smoothly park the vehicle out of the parking space.

[0055] ParticipationFigure 4 , Figure Four A large model training schematic diagram for a vehicle in a parking-out restricted state is provided for an embodiment of the present application.

[0056] A large number of reference cases are preset in the large model, such as reference case #1, reference case #2, reference case #3, and reference case N. These reference cases are constructed based on a large number of actual parking scene data in the past, and each reference case records in detail different parking environment, obstacle situation, and corresponding vehicle parking-out difficulty level and other information. For example, the reference case can include the parking-out situation of the vehicle when there are different size and position obstacles in front, or the space restricted scene when there are vehicles parked on both sides. The language large model compares and analyzes the off-car state S01 and the return front state S02 with each reference case respectively. In the comparison process, the model uses a deep learning algorithm to extract and match the features in the data. For example, the positions, shapes, sizes, and other features of the obstacles in S01 and S02 are identified and compared with the related features in the reference cases. Through the calculation and learning of the multi-layer neural network, the model continuously adjusts the parameters to find the best matching relationship between S01 and S02 and the reference cases.

[0057] If in the comparison process, the model finds that S02 has new obstacles compared to S01, and these obstacles have factors such as position and size that block the normal parking-out path of the vehicle, which meets the conditions that the ordinary intelligent parking-out system is unavailable or the user is difficult to drive manually (for example, the obstacles are too close to the vehicle, the ordinary parking-out algorithm cannot plan the path, or it is difficult to operate in a narrow space when driving manually), it is judged that the vehicle is in a "parking-out space restricted state".

[0058] The model finally outputs the judgment result. If it is judged that the vehicle is in a parking-out space restricted state, the vehicle system will trigger subsequent operations based on this result, such as pushing a parking-out restricted prompt to the user through a mobile terminal device, and providing a special parking-out scheme based on multi-motor control or rear wheel steering combined action to help the user park the vehicle out of the restricted parking space; if it is judged that the vehicle is not in a parking-out space restricted state, the vehicle can normally park out according to the ordinary intelligent parking-out or manual driving mode.

[0059] Participation Figure 5 , Figure 5 Another method flowchart for automatic parking-out of a vehicle is provided for an embodiment of the present application. It includes:

[0060] S501 Recognize that the user has finished parking. There is signal interaction between the intelligent entry system equipped in the vehicle and the mobile terminal (such as UWB / Bluetooth mobile phone key) carried by the user. The system sets a system recognition area centered on the vehicle (which can be compared to a virtual range area). When the user carries the mobile terminal and gradually moves away from the vehicle, the signal strength, distance, and other parameters between the mobile terminal and the vehicle will change. Through real-time monitoring and analysis of these parameters, when the mobile terminal is judged to have left the system recognition area, it is determined that the user is away from the vehicle. For example, after the user parks the vehicle in the parking lot, carries the mobile phone key to the entrance of the shopping mall, and as the distance from the vehicle becomes farther and farther, the signal connection between the mobile terminal and the vehicle gradually weakens, and when it exceeds the system recognition area, this step is triggered.

[0061] S502 The vehicle camera records the first parking space environment state. Once the mobile terminal recognizes that the user is away from the system recognition area, the vehicle camera (which is generally composed of multiple cameras distributed around the vehicle body and can achieve 360-degree surround view) begins to work. The camera quickly collects image information of the environment around the vehicle, including obstacles (such as walls, other parked vehicles, etc.) around the parking space, the boundary of the parking space, ground markings, etc. These image information is converted into data form for storage, forming the first environment state data. This data serves as the initial reference basis for subsequent judgment of whether the parking space is limited, and records the environmental conditions around the parking space when the user leaves the vehicle.

[0062] S503 Recognize that the user is preparing to park out. Similar to the principle of the user moving away from the system recognition area, when the user carries the mobile terminal and moves towards the vehicle and enters the system recognition area, the signal strength, distance, and other parameters between the mobile terminal and the vehicle return to the range that the system can recognize. Through monitoring and analysis of these parameters, the system determines that the mobile terminal has entered the system recognition area, and further determines that the user has the intention to return to the vehicle. For example, after the user finishes shopping and returns to the parking lot, when approaching the vehicle to a certain distance and entering the system recognition area, this step is triggered.

[0063] S504 The vehicle camera records the second parking space environment state. After the mobile terminal recognizes that the user has entered the system recognition area, the vehicle camera is started again to collect image information of the environment around the vehicle. The information collected at this time forms the second environment state data, which also includes the distribution of objects around the parking space, the space conditions, etc. This data is compared with the previously recorded first environment state data to analyze whether the environment around the parking space has changed during the user's departure.

[0064] S505 compares the first parking space environment state with the second parking space environment state to identify that the vehicle is in a parking-out restricted state. The first environment state data and the second environment state data are input into the intelligent analysis system of the vehicle. The system compares the object positions, shapes, quantities and other information in the two environment state data through image recognition, data analysis and other technical means. For example, attention is focused on whether there are new obstacles or whether the positions of the original obstacles have changed. If it is found in the comparison process that there are new obstacles and the positions and sizes of these obstacles cause the normal parking-out path of the vehicle to be blocked, making it difficult for the ordinary intelligent parking-out system to work normally or for the user to manually drive, the system determines that the parking-out space of the parking space is restricted; if no changes affecting the parking-out of the vehicle are found, it is determined that the parking-out space of the parking space is not restricted.

[0065] S506 sends a parking-out restricted prompt and a parking-out scheme. When the system determines that the parking-out space of the parking space is restricted, a prompt instruction is sent to the mobile terminal. After the mobile terminal (such as a mobile phone) receives the instruction, it sends a prompt to the user through a pop-up window, sound, vibration and other ways, informing the user that the parking-out space of the current parking space is restricted. The prompt information generally briefly explains the obstacle situation around the parking space, such as “a vehicle is parked in front of the side of the parking space, causing parking-out difficulty”, so that the user has a clear understanding of the current situation.

[0066] S507 selects a parking-out scheme. After the mobile terminal prompts that the parking-out space is restricted, whether to select remote guest parking-out is displayed on the interface of the related application program. The user can make a selection according to his own needs and actual situation. If the user selects remote guest parking-out, the vehicle will perform remote control parking-out operation through the intelligent driving system; if the user does not select this function, he may subsequently choose to manually drive the vehicle out (if the conditions for manual driving are met) or take other ways.

[0067] S508 controls the vehicle to park out when the guest parking-out is selected. Once the user selects the guest parking-out, the intelligent driving system of the vehicle is immediately started. The system first plans a parking-out path according to the current parking space environment data (i.e. the second environment state data). Using multi-motor control, rear wheel steering and other technologies, combined with the kinematic model of the vehicle, a series of parking-out paths composed of actions such as rolling, rotating and translating are planned. After the path is planned, the intelligent driving system accurately controls the power system, steering system and other components of the vehicle according to the preset program and algorithm, so that the vehicle automatically executes the parking-out operation according to the planned path without the need for the user to manually drive in the vehicle.

[0068] S509 prompts the vehicle to successfully park out. After the vehicle successfully parks out of the parking space under the control of the intelligent driving system, the system sends feedback information to the mobile terminal. The mobile terminal prompts the user that the vehicle has successfully parked out through pop-up windows, sounds, vibrations, and other methods. This prompt allows the user to promptly understand the vehicle status, improves the overall experience of the user during the parking-out process, and allows the user to not need to constantly monitor the parking-out process, thereby increasing convenience and safety.

Claims

1. A method for automatically parking a vehicle, characterized in that, include: The vehicle is identified as being in a restricted parking state when it is in a state of preparing to park. Push notifications indicating restricted parking; The state of being ready to park is the state of the vehicle after it has been parked but before it begins to park again.

2. The automatic vehicle parking method according to claim 1, characterized in that, The method further includes: when the distance between the user and the vehicle is less than a set distance, or when the vehicle is started remotely via a first mobile terminal device, the vehicle is in the state of being ready to park.

3. The automatic vehicle parking method according to claim 2, characterized in that, The distance between the user and the vehicle can be obtained through the vehicle's environmental sensing device or through the second mobile terminal device carried by the user.

4. The automatic vehicle parking method according to claim 1, characterized in that, The method further includes: collecting environmental data of the first parking space; and identifying the vehicle as being in a restricted parking state based on the environmental data of the first parking space.

5. The automatic vehicle parking method according to claim 4, characterized in that, The method further includes: collecting environmental data of the second parking space when the vehicle is in the parking completed state.

6. The automatic vehicle parking method according to claim 5, characterized in that, When the distance between the user and the vehicle is greater than a set distance, the vehicle is in a parking completed state.

7. The automatic vehicle parking method according to claim 6, characterized in that, The distance between the user and the vehicle can be obtained through the vehicle's environmental sensing device or through the second mobile terminal device carried by the user.

8. The automatic vehicle parking method according to claim 3 or 7, characterized in that, The vehicle's environmental perception device includes one or more of the following: camera, ultrasonic radar, and lidar.

9. The automatic vehicle parking method according to claims 4-7, characterized in that, The method further includes: comparing the first parking space environment data and the second parking space environment data to identify that the vehicle is in a restricted parking state.

10. The automatic parking method for vehicles according to claim 1, characterized in that, The push notification of restricted parking includes: pushing restricted parking information to the user via a third mobile terminal device; the third mobile terminal device includes one or more of mobile phones, watches, and glasses.

11. The automatic parking method for vehicles according to claim 10, characterized in that, The method also includes: a push-out scheme.

12. The automatic vehicle parking method according to claim 10 or 11, characterized in that, The method further includes: executing the berthing plan according to the user's selection.

13. The automatic parking method for vehicles according to claim 12, characterized in that, The parking solutions include valet parking and automatic parking; wherein, valet parking involves remotely controlling the vehicle to park before the user gets in the car; and automatic parking involves controlling the vehicle to park after the user gets in the car through an intelligent driving system.

14. The automatic parking method for vehicles according to claim 13, characterized in that, The intelligent driving system controls the vehicle's parking process by: planning the parking path; and controlling the vehicle to perform one or more of the following actions: parking, rotating, and translating.

15. The automatic parking method for vehicles according to claim 1, characterized in that, The method further includes: Based on the user's historical parking data and map data, it is determined that the vehicle is in a restricted parking state; a restricted parking reminder is pushed to the user.

16. The intelligent parking space exit method according to claim 15, characterized in that, The step of determining that the vehicle is in a restricted parking state based on the user's historical parking data and map data includes: determining that the vehicle is in a restricted parking state when the user pushes a restricted parking reminder to the user at the same location at least once.

17. An electronic device, characterized in that, Includes: memory, used to store executable code; A processor for executing the executable code to implement the method of any one of claims 1-16.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed in a computer, it causes the computer to perform the method described in any one of claims 1-16.

19. A computer program, characterized in that, The computer program includes instructions that, when executed, implement the method according to any one of claims 1-16.

20. A vehicle, characterized in that, Includes the electronic device as described in claim 17.

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