Vehicle control method and device, electronic equipment and vehicle

Abstract

The embodiment of the invention provides a vehicle control method and device, electronic equipment and a vehicle, under the condition that the vehicle is driven into a first parking space, the state of an obstacle located in a second parking space is detected, and the first parking space is adjacent to the second parking space; then, under the condition that it is detected that the obstacle leaves the second parking space, the self-vehicle is controlled to conduct pose adjustment, and the distance between a part of the vehicle body of the self-vehicle after pose adjustment and the target parking space line is smaller than the distance between a part of the vehicle body before pose adjustment and the target parking space line; the distance between a part of the vehicle body of the own vehicle after pose adjustment and the target parking space line is not smaller than the first distance threshold value, and the target parking space line is the parking space line closest to the second parking space in the first parking space, so that the influence of subsequent parking in-garage of other vehicles can be reduced.

Description

Technical Field

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

[0002] In related technologies, when parking (e.g., a driver parking a car or an autonomous vehicle parking a car), the vehicle may deviate from its parking position based on surrounding obstacles (e.g., neighboring vehicles, curbs, etc.) to reduce difficulties in getting in and out of the car or scratches when opening the door.

[0003] However, if a vehicle is parked off-center, it will affect the parking of other vehicles that follow. Summary of the Invention

[0004] This application provides a vehicle control method, device, electronic device, and vehicle, aimed at reducing the impact on the subsequent parking of other vehicles.

[0005] In a first aspect, embodiments of this application propose a vehicle control method, comprising: when a vehicle enters a first parking space, detecting the state of an obstacle located in a second parking space, wherein the first parking space and the second parking space are adjacent; when the obstacle is detected to have left the second parking space, controlling the vehicle to perform a positional adjustment, wherein the distance between a portion of the vehicle body after the positional adjustment and the target parking space line is less than the distance between a portion of the vehicle body before the positional adjustment and the target parking space line, and the distance between a portion of the vehicle body after the positional adjustment and the target parking space line is not less than a first distance threshold, wherein the target parking space line is the parking space line in the first parking space that is closest to the second parking space.

[0006] In this embodiment, when the vehicle enters the first parking space, the state of the obstacle in the second parking space is detected. The first and second parking spaces are adjacent. Then, when the obstacle leaves the second parking space, the vehicle is controlled to adjust its position. The distance between a portion of the vehicle body and the target parking space line after the position adjustment is less than the distance between a portion of the vehicle body and the target parking space line before the position adjustment, and the distance between a portion of the vehicle body and the target parking space line after the position adjustment is not less than a first distance threshold. The target parking space line is the parking space line in the first parking space that is closest to the second parking space. In this way, after the obstacle in the adjacent parking space (second parking space) of the vehicle's parking space (first parking space) leaves the second parking space, the vehicle can be controlled to adjust its position, so that a portion of the vehicle body after the position adjustment is closer to the second parking space but not too close to the target parking space line (not less than the first distance threshold). This helps to reduce the impact on the subsequent parking of other vehicles.

[0007] In one possible implementation, when an obstacle is detected leaving the second parking space, the vehicle is controlled to perform a pose adjustment, including: when an obstacle is detected leaving the second parking space and a pose adjustment command is received from a mobile terminal, the vehicle is controlled to perform a pose adjustment, wherein the pose adjustment command is generated in response to a pose adjustment instruction from a user.

[0008] In this embodiment, the vehicle is controlled to adjust its posture only when an obstacle is detected leaving the second parking space and a posture adjustment command is received from the mobile terminal. The posture adjustment command is generated in response to the user's posture adjustment instruction. This allows the vehicle to adjust its posture only when a posture adjustment command is received from the mobile terminal and an obstacle is detected leaving the second parking space. This increases the conditions for the vehicle to adjust its posture, thereby improving the safety of posture adjustment.

[0009] In one possible implementation, the method further includes: when an obstacle is detected leaving the second parking space, sending a pose adjustment request to the mobile terminal, so that the mobile terminal initiates a pose adjustment prompt based on the pose adjustment request, wherein the pose adjustment instruction is generated by the mobile terminal after receiving a pose adjustment instruction from the user after initiating the pose adjustment prompt.

[0010] In this embodiment, when an obstacle is detected leaving the second parking space, a pose adjustment request is sent to the mobile terminal, so that the mobile terminal initiates a pose adjustment prompt based on the pose adjustment request. The pose adjustment instruction is generated by the mobile terminal after receiving a pose adjustment instruction from the user after initiating the pose adjustment prompt. In this way, the user can be prompted when an obstacle is detected leaving the second parking space, which helps to improve the user experience.

[0011] In one possible implementation, when an obstacle is detected leaving the second parking space, the vehicle is controlled to adjust its pose, including: when a portion of the vehicle body is at least a second distance threshold between itself and the target parking space line, and an obstacle is detected leaving the second parking space, the vehicle is controlled to adjust its pose, wherein the second distance threshold is greater than a first distance threshold.

[0012] In this embodiment, when the distance between a portion of the vehicle body and the target parking space line is not less than a second distance threshold, and an obstacle is detected leaving the second parking space, the vehicle is controlled to adjust its posture. The second distance threshold is greater than the first distance threshold. This reduces the frequency of posture adjustments by the vehicle, thereby reducing collision accidents that occur during posture adjustments.

[0013] In one possible implementation, when the vehicle enters the first parking space, the state of the obstacle located in the second parking space is detected, including: when the vehicle enters the first parking space and the vehicle's pose adjustment function is detected to be activated, the state of the obstacle located in the second parking space is detected.

[0014] In this embodiment, when the vehicle enters the first parking space and the vehicle's posture adjustment function is activated, the status of the obstacle in the second parking space is detected. In this way, the user can set whether to activate the posture adjustment function as needed, which helps to improve the user experience.

[0015] In one possible implementation, the method further includes: when the vehicle enters the first parking space and the distance between a portion of the vehicle body and the target parking space line is not less than a second distance threshold, sending a prompt to the mobile terminal to enable the pose adjustment function; and enabling the pose adjustment function upon receiving the enable instruction from the mobile terminal.

[0016] In this embodiment, when the vehicle enters the first parking space and the distance between a portion of the vehicle body and the target parking space line is detected to be no less than a second distance threshold, a prompt to activate the pose adjustment function is sent to the mobile terminal. Upon receiving an activation instruction from the user, the pose adjustment function is activated. This allows for a prompt to activate the pose adjustment function when it is detected, and activation is only performed if an activation instruction from the user is received. Since a prompt to activate the pose adjustment function is sent to the mobile terminal, the user experience is improved, and the possibility of users missing the activation of the pose adjustment function is reduced.

[0017] In one possible implementation, when an obstacle is detected leaving the second parking space, the vehicle is controlled to adjust its posture, including: when an obstacle is detected leaving the second parking space and there are no dynamic obstacles within a preset range of the vehicle, the vehicle is controlled to adjust its posture.

[0018] In this embodiment, when an obstacle is detected leaving the second parking space and there are no dynamic obstacles within the preset range of the vehicle, the vehicle is controlled to adjust its posture. This reduces the risk of collision during the posture adjustment process and improves the safety of the vehicle's posture adjustment.

[0019] Secondly, this application provides a vehicle control device, comprising: a detection module for detecting the state of an obstacle located in a second parking space when the vehicle enters a first parking space, wherein the first parking space and the second parking space are adjacent; and a control module for controlling the vehicle to perform a position adjustment when the obstacle is detected to have left the second parking space, wherein the distance between a portion of the vehicle body after position adjustment and the target parking space line is less than the distance between a portion of the vehicle body and the target parking space line before position adjustment, and the distance between a portion of the vehicle body after position adjustment and the target parking space line is not less than a first distance threshold, wherein the target parking space line is the parking space line in the first parking space that is closest to the second parking space.

[0020] Thirdly, embodiments of this application propose an electronic device, including a processor and a memory, wherein: the memory is used to store computer programs; and the processor is used to execute the programs stored in the memory to implement the method of the first aspect.

[0021] Fourthly, embodiments of this application propose a vehicle that includes the electronic equipment of the third aspect.

[0022] Fifthly, embodiments of this application propose a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method of the first aspect. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of an offset docking scenario according to an embodiment of this application.

[0024] Figure 2 This is a schematic flowchart illustrating a vehicle control method according to an embodiment of this application.

[0025] Figure 3 This is a schematic diagram illustrating a vehicle's position before posture adjustment, according to an embodiment of this application.

[0026] Figure 4 This is a schematic diagram illustrating a self-adjusted vehicle according to an embodiment of this application.

[0027] Figure 5 This is a schematic flowchart illustrating a vehicle control method according to another embodiment of this application.

[0028] Figure 6 This is a schematic flowchart illustrating a vehicle control method according to another embodiment of this application.

[0029] Figure 7 This is a structural block diagram of a vehicle control device according to an embodiment of this application.

[0030] Figure 8This is a structural diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0031] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0032] Terminology Explanation: Automatic Parking Assist (APA): A basic in-vehicle intelligent driving module that uses cameras and ultrasonic / millimeter-wave radar to perceive the surrounding environment. The controller automatically plans the parking path and coordinates with steering, braking and other execution systems to assist or fully automatically complete the vehicle's parking (parallel, perpendicular and angled parking) without the need for manual steering by the driver. Some advanced versions can achieve cross-level parking.

[0033] Telematics Box (TBOX): The vehicle's vehicle-to-everything (V2X) communication component, serving as a bridge connecting the vehicle, cloud platform, and mobile terminal. It has built-in communication modules (4G / 5G), positioning modules, etc., enabling functions such as remote vehicle control (unlocking, turning on the air conditioner, locating the vehicle), real-time reporting of vehicle status (fuel consumption / battery level, fault codes, driving trajectory), and emergency rescue (automatic collision alarm). It is the node for interaction between the vehicle and the cloud.

[0034] In-vehicle applications (Apps) are divided into two categories: in-vehicle and mobile applications. In-vehicle applications are dedicated applications installed on the vehicle's central control screen to enable in-vehicle functions (navigation, entertainment, vehicle settings). Mobile applications are in-vehicle apps provided by car manufacturers. Through communication with TBOX and the cloud, they enable cross-platform interaction such as remote vehicle control, vehicle status inquiry, and service appointment (maintenance, charging), serving as the mobile entry point for users to control their vehicles.

[0035] Cockpit Control Unit (CCU): The controller of the cockpit domain, equivalent to the brain of the cockpit, centrally manages all intelligent cockpit devices, including the central control screen, full LCD instrument panel, intelligent adjustment of seats / air conditioning / ambient lighting / car audio, and realizes signal interaction and function linkage between various cockpit devices to ensure the smooth operation of the cockpit.

[0036] Body Control Module (BCM): The control unit for the basic electrical systems of the vehicle body. It is a mainstream standard feature of automakers and centrally manages the basic electrical equipment of the vehicle body, such as doors, windows, front and rear lights, wipers, central locking, and rearview mirror adjustment. It is also responsible for fault detection and overload protection of electrical equipment, realizing centralized and lightweight control of the body electrical system and replacing the traditional distributed relay / fuse box.

[0037] Inertial Measurement Unit (IMU): A motion sensing sensor for intelligent driving, consisting of a gyroscope and an accelerometer (high-end versions integrate a magnetometer). It can measure the vehicle's angular velocity (steering, rotation) and linear acceleration (acceleration, deceleration, driving direction) in real time with high precision. Combined with positioning and high-precision map data, it can achieve accurate perception of the vehicle's attitude, position, and motion state, providing motion data for path planning and vehicle control in intelligent driving functions.

[0038] Electric Power Steering (EPS): A component of the vehicle steering system that replaces traditional hydraulic power steering. It uses an electric motor to provide adaptive steering assistance to the driver based on vehicle speed and steering angle (light at low speeds, stable at high speeds), improving driving comfort. It is also a key actuator in intelligent driving, receiving steering commands from the controller to achieve automatic vehicle steering, and is the execution end of intelligent driving steering control.

[0039] Vehicle Control Unit (VCU): The central control unit of the vehicle (standard equipment for new energy vehicles, also applicable to fuel / hybrid models), equivalent to the vehicle's brain. It is responsible for the signal interaction and strategy coordination of various vehicle systems (power system, chassis, body, intelligent driving, vehicle networking). Based on the driver's operation (accelerator, brake, gear) and vehicle status, it rationally allocates power (motor / engine / battery), monitors vehicle faults, and coordinates the execution of instructions by various controllers to ensure the safety, power and economy of vehicle driving. It is the command center of all vehicle systems.

[0040] Intelligent driving computing unit: responsible for deviation type determination logic, correction condition verification rules, path planning algorithm, data processing and instruction decision-making, and data storage.

[0041] Surround view camera: Responsible for identifying obstacles at close range in parking spaces and extracting feature areas.

[0042] Ultrasonic radar: responsible for detecting obstacles in the parking space at close range.

[0043] Automated Detection and Positioning Controller (ADC): This controller combines focused active detection (scanning), parking space location positioning (coordinate recording), and equipment control functions to complete the acquisition of parking space coordinates.

[0044] In related technologies, when parking (e.g., a driver parking a car or an autonomous vehicle parking a car), the vehicle may deviate from its parking position based on surrounding obstacles (e.g., neighboring vehicles, curbs, etc.) to reduce difficulties in getting in and out of the car or scratches when opening the door.

[0045] However, if a vehicle is parked off-center (or off-center) during parking, it will affect the parking of other vehicles that follow.

[0046] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating an offset docking scenario according to an embodiment of this application. Figure 1 In scenario (a), there are three adjacent parking spaces: A, B, and C. Parking space A contains vehicle A, and vehicle A is relatively close to parking space B. When parking, vehicle B may use a deviated parking maneuver to make it easier to get in and out of the parking space. The result of this deviated parking maneuver is as follows: Figure 1 As shown in (b) of the diagram, in Figure 1 In scenario (b), although vehicle B is parked in parking space B, it is relatively close to parking space C. Therefore, when other vehicles (such as vehicle C) want to park in parking space C, parking becomes inconvenient.

[0047] In view of this, embodiments of this application propose a vehicle control method, device, electronic device, and vehicle. When a vehicle enters a first parking space, the state of an obstacle in a second parking space (the first and second parking spaces are adjacent) is detected. Then, when the obstacle is detected leaving the second parking space, the vehicle is controlled to perform a positional adjustment. The distance between a portion of the vehicle's body after the positional adjustment and the target parking space line is less than the distance between a portion of the vehicle's body and the target parking space line before the positional adjustment, and the distance between the portion of the vehicle's body after the positional adjustment and the target parking space line is not less than a first distance threshold. The target parking space line is the parking space line in the first parking space that is closest to the second parking space. This allows the vehicle to perform positional adjustment after an obstacle in the adjacent parking space (the second parking space) leaves the first parking space, ensuring that a portion of the vehicle's body is closer to the second parking space after the positional adjustment but not too close to the target parking space line (not less than the first distance threshold). This helps reduce the impact on subsequent parking of other vehicles.

[0048] The vehicle control method will now be explained in detail.

[0049] Please see Figure 2 , Figure 2 This is a schematic flowchart illustrating a vehicle control method according to an embodiment of this application. Figure 2 The method shown can be performed by an electronic device, which may include the vehicle itself or an in-vehicle terminal (e.g., a controller), etc., without specific limitations. Figure 2 The methods shown may include: S210. When the vehicle enters the first parking space, detect the status of the obstacle located in the second parking space. The first parking space and the second parking space are adjacent.

[0050] In this embodiment, when the vehicle enters the first parking space, it can be driven by the driver or controlled by the vehicle's autonomous driving system; there is no limitation on this. Optionally, the vehicle in this embodiment may have a parking offset capability, which allows it to park to the left, right, or center. When the vehicle enters the parking space, a "parking offset option" (such as left / right / center) can be provided to the user, allowing the user to actively choose to offset the parking space based on surrounding obstacles (such as adjacent vehicles, curbs), avoiding scratches when opening the door or difficulties getting in and out of the vehicle. Optionally, after the vehicle enters the first parking space, this embodiment can continuously detect the status of obstacles in the second parking space through the vehicle's sensing devices (such as radar, sensors, cameras, etc.). The radar can be, for example, lidar or ultrasonic radar. The camera can be, for example, a surround-view camera. In this embodiment, detecting the status of obstacles in the second parking space can be detecting whether the obstacle in the second parking space remains in the second parking space or has moved away from the second parking space. In this embodiment, the obstacle located in the second parking space may include, but is not limited to, vehicles, etc.

[0051] S220. When an obstacle is detected leaving the second parking space, the vehicle is controlled to adjust its position and posture. The distance between a portion of the vehicle body after the position and posture adjustment and the target parking space line is less than the distance between a portion of the vehicle body and the target parking space line before the position and posture adjustment, and the distance between a portion of the vehicle body after the position and posture adjustment and the target parking space line is not less than a first distance threshold. The target parking space line is the parking space line in the first parking space that is closest to the second parking space.

[0052] The first distance threshold can be set as needed. Optionally, the first distance threshold can be preset, or it can be determined after the vehicle enters the first parking space based on the detected distance between the vehicle and the target parking space line and the distance between the vehicle and the second parking space line. For example, the average of the distance between the vehicle and the target parking space line and the distance between the vehicle and the second parking space line can be used as the first distance threshold, which is not limited here. Optionally, in this embodiment, the first and second parking spaces can be real parking spaces formed by physical parking space lines; in addition, the first and second parking spaces can also be virtual parking spaces created by the vehicle, in which case the virtual first and second parking spaces can be parking spaces formed by virtual parking space lines, which is not limited here. The pose in this embodiment can be position and attitude.

[0053] It should be noted that controlling the vehicle's posture adjustment can be done remotely via a mobile terminal, or by the vehicle's in-vehicle intelligent driving system; there are no restrictions on this.

[0054] Optionally, the mobile terminal in this embodiment may include, but is not limited to, smartphones, tablets, laptops, desktop computers, smart TVs, smart home devices, etc., and there are no restrictions on this.

[0055] Please see Figure 3 and Figure 4 , Figure 3 This is a schematic diagram illustrating the position of a vehicle 310 before pose adjustment, according to an embodiment of this application. Figure 4 This is a schematic diagram showing an adjusted version of the vehicle 310 according to an embodiment of this application.

[0056] like Figure 3 As shown in (a), vehicle A is parked in parking space A (the second parking space in this embodiment), and vehicle A is parked at an angle. To facilitate getting in and out of the vehicle, vehicle 310 also enters parking space B (the first parking space in this embodiment) at an angle. Before the position adjustment, vehicle 310 is not parallel to the target parking space line 320, forming a certain angle, and a portion of the vehicle 310's body has a significant distance (e.g., greater than a second distance threshold) from the target parking space line 320. Figure 3 As shown in (b), vehicle A is parked in parking space A, which is close to parking space B. To facilitate getting in and out of the vehicle, vehicle 310 also enters parking space B and parks close to parking space C. At this time, before the position adjustment, vehicle 310 is nearly parallel to the target parking space line 320, and a portion of vehicle 310's body has a significant distance from the target parking space line 320. Figure 3 As shown, if a vehicle needs to be parked in parking space C, it is inconvenient to park that vehicle at this time.

[0057] like Figure 4As shown, after the pose adjustment, the vehicle 310 is nearly parallel to the target parking space line 320. The distance between a part of the vehicle 310 and the target parking space line 320 after the pose adjustment is smaller than the distance between a part of the vehicle 310 and the target parking space line 320 before the pose adjustment (for example, not greater than the second distance threshold and not less than the first distance threshold).

[0058] In this embodiment, when the vehicle enters the first parking space, the state of the obstacle in the second parking space is detected. The first and second parking spaces are adjacent. Then, when the obstacle leaves the second parking space, the vehicle is controlled to adjust its position. The distance between a portion of the vehicle body and the target parking space line after the position adjustment is less than the distance between a portion of the vehicle body and the target parking space line before the position adjustment, and the distance between a portion of the vehicle body and the target parking space line after the position adjustment is not less than a first distance threshold. The target parking space line is the parking space line in the first parking space that is closest to the second parking space. In this way, after the obstacle in the adjacent parking space (second parking space) of the vehicle's parking space (first parking space) leaves the second parking space, the vehicle can be controlled to adjust its position, so that a portion of the vehicle body after the position adjustment is closer to the second parking space but not too close to the target parking space line (not less than the first distance threshold). This helps to reduce the impact on the subsequent parking of other vehicles.

[0059] In one possible implementation, upon detecting that an obstacle has left the second parking space, the vehicle is controlled to adjust its pose, including: When an obstacle is detected leaving the second parking space and a pose adjustment command is received from the mobile terminal, the vehicle is controlled to adjust its pose. The pose adjustment command is generated in response to the user's pose adjustment instruction.

[0060] In this embodiment, the user can give a pose adjustment instruction through an application installed on the mobile terminal, such as through the pose adjustment control of the application. Then, after the mobile terminal receives the user's pose adjustment instruction, it generates a pose adjustment command and sends the pose adjustment command to the vehicle or the vehicle terminal in the vehicle. If the vehicle receives the pose adjustment command and detects that the obstacle has left the second parking space, it controls the vehicle to perform a pose adjustment.

[0061] Optionally, in this embodiment, after receiving the pose adjustment command, the vehicle stores the pose adjustment command. Then, if it detects that an obstacle has left the second parking space, and if it detects that a pose adjustment command has been stored, it controls the vehicle to perform pose adjustment.

[0062] In this embodiment, the vehicle is controlled to adjust its posture only when an obstacle is detected leaving the second parking space and a posture adjustment command is received from the mobile terminal. The posture adjustment command is generated in response to the user's posture adjustment instruction. This allows the vehicle to adjust its posture only when a posture adjustment command is received from the mobile terminal and an obstacle is detected leaving the second parking space. This increases the conditions for the vehicle to adjust its posture, thereby improving the safety of posture adjustment.

[0063] Optionally, the pose adjustment instruction can be initiated by the user, or it can be initiated by the user after the target terminal has issued a pose adjustment prompt. There are no restrictions on this.

[0064] In one possible implementation, the method also includes: When an obstacle is detected leaving the second parking space, a pose adjustment request is sent to the mobile terminal so that the mobile terminal can initiate a pose adjustment prompt based on the pose adjustment request. The pose adjustment instruction is generated by the mobile terminal after receiving a pose adjustment instruction from the user after initiating the pose adjustment prompt.

[0065] In this embodiment, the pose adjustment prompt can be initiated via voice or through the application interface; there is no limitation on this.

[0066] In this embodiment, when an obstacle is detected leaving the second parking space, a pose adjustment request is sent to the mobile terminal, enabling the mobile terminal to issue a pose adjustment prompt based on the pose adjustment request. Then, if the user initiates a pose adjustment instruction through the mobile terminal, the mobile terminal generates a pose adjustment command and sends it to the vehicle or the in-vehicle terminal inside the vehicle, thereby enabling the vehicle to perform pose adjustment.

[0067] In this embodiment, when an obstacle is detected leaving the second parking space, a pose adjustment request is sent to the mobile terminal, so that the mobile terminal initiates a pose adjustment prompt based on the pose adjustment request. The pose adjustment instruction is generated by the mobile terminal after receiving a pose adjustment instruction from the user after initiating the pose adjustment prompt. In this way, the user can be prompted when an obstacle is detected leaving the second parking space, which helps to improve the user experience.

[0068] It should be noted that, in one possible implementation, the vehicle may adjust its position and posture when the distance between a portion of the vehicle body and the target parking space line is greater than a first distance threshold and an obstacle is detected leaving the second parking space.

[0069] In another possible implementation, upon detecting that an obstacle has left the second parking space, the vehicle is controlled to adjust its pose, including: If the distance between a portion of the vehicle body and the target parking space line is not less than a second distance threshold, and an obstacle is detected leaving the second parking space, the vehicle is controlled to adjust its posture. The second distance threshold is greater than the first distance threshold.

[0070] In this embodiment, if the distance between a portion of the vehicle body and the target parking space line is not less than the second distance threshold, it indicates that a portion of the vehicle body may leave the first parking space or be too close to the third parking space (the parking space on the other side away from the second parking space). Therefore, the vehicle's position needs to be adjusted.

[0071] In this embodiment, when the distance between a portion of the vehicle body and the target parking space line is not less than a second distance threshold, and an obstacle is detected leaving the second parking space, the vehicle is controlled to adjust its posture. The second distance threshold is greater than the first distance threshold. This reduces the frequency of posture adjustments by the vehicle, thereby reducing collision accidents that occur during posture adjustments.

[0072] In one possible implementation, when the vehicle enters the first parking space, the state of the obstacle located in the second parking space is detected, including: When the vehicle enters the first parking space and the vehicle's posture adjustment function is activated, the status of the obstacle in the second parking space is detected.

[0073] The pose adjustment function can be enabled via the vehicle's infotainment system or through an application installed on a mobile device; there are no restrictions on this. Optionally, the pose adjustment function can be enabled or disabled by default; there are no restrictions on this either.

[0074] In this embodiment, when the vehicle enters the first parking space and the vehicle's posture adjustment function is activated, the status of the obstacle in the second parking space is detected. In this way, the user can set whether to activate the posture adjustment function as needed, which helps to improve the user experience.

[0075] In one possible implementation, the method also includes: When the vehicle enters the first parking space and the distance between a portion of the vehicle body and the target parking space line is not less than the second distance threshold, a prompt to activate the pose adjustment function is sent to the mobile terminal; upon receiving the activation instruction from the mobile terminal, the pose adjustment function is activated.

[0076] In this embodiment, if the distance between a portion of the vehicle's body and the target parking space line is not less than a second distance threshold, it indicates that a portion of the vehicle's body may have moved away from the first parking space or is too close to the third parking space (the parking space on the other side away from the second parking space). Optionally, this embodiment can initiate a prompt to enable the pose adjustment function in the vehicle's infotainment system or a mobile terminal application. Optionally, after the vehicle enters the first parking space and comes to a complete stop, the distance between a portion of the vehicle's body and the target parking space line can be detected. If the distance between a portion of the vehicle's body and the target parking space line is detected to be not less than the second distance threshold, a prompt to enable the pose adjustment function can be sent to the mobile terminal.

[0077] In this embodiment, when the vehicle enters the first parking space and the distance between a portion of the vehicle body and the target parking space line is detected to be no less than a second distance threshold, a prompt to activate the pose adjustment function is sent to the mobile terminal. Upon receiving an activation instruction from the user, the pose adjustment function is activated. This allows for a prompt to activate the pose adjustment function when it is detected, and activation is only performed if an activation instruction from the user is received. Since a prompt to activate the pose adjustment function is sent to the mobile terminal, the user experience is improved, and the possibility of users missing the activation of the pose adjustment function is reduced.

[0078] In one possible implementation, upon detecting that an obstacle has left the second parking space, the vehicle is controlled to adjust its pose, including: If an obstacle is detected leaving the second parking space and there are no dynamic obstacles within the preset range of the vehicle, the vehicle will be controlled to adjust its position and posture.

[0079] The preset range can be the range that the vehicle's sensors can perceive, or the range covered by the vehicle during its movement; there are no restrictions on this.

[0080] In this embodiment, when an obstacle is detected leaving the second parking space and there are no dynamic obstacles within the preset range of the vehicle, the vehicle is controlled to adjust its posture. This reduces the risk of collision during the posture adjustment process and improves the safety of the vehicle's posture adjustment.

[0081] In another possible implementation, if an obstacle is detected leaving the second parking space, the vehicle can be controlled to adjust its posture without any other additional conditions, such as receiving a posture adjustment command, activating the posture adjustment function, or determining whether there is a dynamic obstacle. This would improve the efficiency of posture adjustment.

[0082] The following description provides another embodiment in conjunction with the above embodiments.

[0083] Please see Figure 5 , Figure 5 This is a schematic flowchart illustrating a vehicle control method according to another embodiment of this application. Figure 5 The method shown can be performed by an electronic device, which may include an in-vehicle terminal (e.g., a controller), etc., without specific limitations. Figure 5 The methods shown may include: S510: When the vehicle enters the first parking space and detects that the distance between a part of the vehicle body and the target parking space line is not less than the second distance threshold, the vehicle terminal sends a prompt to the mobile terminal to enable the pose adjustment function.

[0084] S520: Upon receiving an instruction from the user to enable the posture adjustment function, the vehicle terminal enables the posture adjustment function.

[0085] S530: When the vehicle terminal detects that an obstacle has left the second parking space, it sends a pose adjustment request to the mobile terminal.

[0086] S540: The mobile terminal initiates a pose adjustment prompt based on the pose adjustment request.

[0087] S550: The mobile terminal responds to the user's posture adjustment instruction and sends a posture adjustment command to the vehicle terminal.

[0088] When the S560 vehicle terminal receives a posture adjustment command from the mobile terminal and there are no dynamic obstacles within the preset range of the vehicle, it controls the vehicle to adjust its posture.

[0089] This embodiment can be referred to the description of the above embodiment, and will not be repeated here.

[0090] Specifically, with the popularization of intelligent driving technology, Automatic Parking (APA) systems have become a mainstream feature, and some models have added "parking offset options" (such as left / right / center), allowing users to actively choose to offset the parking space based on obstacles around the parking space (such as adjacent vehicles or curbs), avoiding scratches when opening the door or difficulties getting in and out of the car. However, the following core shortcomings currently exist: Lack of attitude monitoring: After APA parking (whether passive or active offset), the system has no mechanism to continuously monitor changes in vehicle attitude and the state of surrounding obstacles, and cannot recognize the scenario that "the parking space is sufficient for a proper parking after the obstacle disappears"; Insufficient scenario adaptation: It does not distinguish between the two scenarios of "passive displacement due to obstacles" and "user-initiated displacement", and relies solely on user-initiated remote adjustment, which cannot achieve scenario-based automatic reminders; The interaction logic is simplistic: the existing remote vehicle relocation function requires users to manually search for the operation entry point, and there is no dedicated reminder message or one-click operation process designed for "offset correction", making the user experience cumbersome. The path planning is crude: For small-scale attitude adjustments within parking spaces, existing paths often use multiple complex trajectories, which result in long adjustment times, high energy consumption, and insufficient adaptability. For example, if a user chooses to park slightly to the left because the adjacent vehicle on the right is too close, the vehicle will tilt 8 degrees. After the adjacent vehicle leaves, the user will need to turn back and manually adjust the vehicle, or give up on correcting the tilted parking for a long time, resulting in low space utilization and increased risks for subsequent parking / driving.

[0091] Therefore, the following embodiments, based on the above embodiments, explain how to solve the above-mentioned defects.

[0092] Please see Figure 6 , Figure 6 This is a schematic flowchart illustrating a vehicle control method according to another embodiment of this application. Figure 6 The method shown can be performed by an electronic device, which may include the vehicle itself or an in-vehicle terminal (e.g., a controller), etc., without specific limitations. Figure 6 The methods shown may include: S601, The user begins parking.

[0093] S602, ADC actively scans and records parking space coordinates.

[0094] In this embodiment, the parking space coordinates are scanned and recorded before parking begins, and are used to calculate and confirm whether the parking is off-center after parking is completed. Data is collected by fusing data from surround view cameras (frame rate ≥30fps), ultrasonic radar (detection distance 0.1-5m, accuracy ±1cm), and millimeter-wave radar (supplementary dynamic obstacle detection). The specific parking space parameters include: parking space length L, width W, and parking space line clarity (divided into clear / blurred / no lines, determined based on image edge detection algorithm).

[0095] S603, Determine whether the user has completed parking.

[0096] The parking result can be, for example, as mentioned in the above embodiment, where the car parks itself in the first parking space, and there are no restrictions here.

[0097] S604. Actively check for deviation.

[0098] One method to check if a vehicle is parked off-center is to detect the distance between the vehicle body and the target parking space line. If the distance is not less than a second distance threshold, it can be considered as parked off-center.

[0099] Optionally, after parking is completed, detection and offset type calibration can be initialized. Specifically, after the vehicle completes parking via the APA system or manually, the initialization process is triggered, and the perception module and processing module work together to complete data acquisition and scene calibration. 1. Sensory data acquisition: obstacle information recognition; 2. Vehicle attitude parameters: the angle α between the vehicle body and the parking space line (clockwise is positive, counterclockwise is negative), the offset D between the vehicle body center and the parking space center (along the width of the parking space), and the distance S between the wheel and the curb. In this embodiment, the distance between the vehicle and the target parking space line of the first parking space can be represented by the offset D between the vehicle body center and the parking space center (along the width of the parking space). In another possible implementation, the distance between the vehicle and the target parking space line can also be represented by the distance between the vehicle body edge closest to the target parking space line and the target parking space line. This distance between the vehicle body edge and the target parking space line can be sensed by a sensor device installed at the vehicle body edge.

[0100] 3. Obstacle status: distance between adjacent vehicles / objects on both sides (D on the left, D on the right), and the overlap width L between the obstacle and the parking line (L∈(0,5cm] indicates slight encroachment); 4. User operation log: Read the APA system operation log to determine if there are any user-initiated offset instructions (such as clicking the "left" or "right" option in the APP, or triggering the action by an in-vehicle button).

[0101] 5. Offset Type Calibration: Based on the above data, the processing module calibrates the offset type to one of the following two categories: Active offset (Type A): There is a user active offset operation command, and after offset, D / D ≥ preset safety distance (e.g., ≥35cm, to meet door opening requirements). Passive offset (Type B): No user-initiated offset command, and α > 5° or D > 3cm, while L > 0 (i.e., the parking space is slightly encroached).

[0102] 6. Data storage: Store offset type, attitude parameters, obstacle information, and parking space parameters to the on-board memory and mark the storage timestamp T.

[0103] S605, prompting the user to enable the correction function.

[0104] The correction function in this embodiment can be referred to the description of the pose adjustment function, and will not be repeated here.

[0105] S606. Determine whether the user has enabled the function.

[0106] The function of this embodiment can be a pose adjustment function.

[0107] S607, Obstacle Detection Module.

[0108] S608: Determine whether the obstacle has disappeared and whether the user has issued a command.

[0109] In this embodiment, the disappearance of the obstacle can be referred to in the description of the obstacle leaving the second parking space, and will not be repeated here. The user-issued instructions can be referred to in the description of the pose adjustment instructions (also known as user instructions), and will not be repeated here.

[0110] Optionally, continuous monitoring and correction of conditions can be performed while the vehicle is parked. When the vehicle is in park (P gear, handbrake engaged), such as when the user leaves the vehicle, this scenario can enter a state similar to sentry mode, where the intelligent driving computing unit ADC, TBOX, and associated sensors are awake; the processing module triggers continuous monitoring every T=2 seconds (low power mode, sensor sampling frequency is reduced to 1 / 3 of the normal level to reduce energy consumption), specifically including: 1. Obstacle Status Update: Real-time detection of changes in D, D, and L. When any of the following conditions are met, it is determined as "obstacle disappears / parking space meets requirements": The obstacle that was originally occupying the parking space (L>0) has been completely moved away / removed, and L=0 has been detected for 5 consecutive seconds; 2. The distance between adjacent vehicles on both sides is increased, and the available width of the parking space W = W + L + L ≥ vehicle width B + 70cm (sufficient adjustment space is reserved).

[0111] 3. Attitude stability verification: Confirm that the vehicle was not moved by external forces (detected by the on-board IMU inertial measurement unit, displacement change ≤1cm, angle change ≤0.5°).

[0112] 4. Security Condition Verification: The processing module synchronously verifies the following security parameters; if all are satisfied, an alert process is triggered: Vehicle status: Battery charge ≥20%, braking system normal, no fault codes (such as no abnormalities in EPS steering system and T-BOX communication system); 5. Environmental safety: No dynamic obstacles (pedestrians, vehicles) in the surrounding area, and no extreme weather (heavy rain, heavy snow, dense fog, visibility ≥50m); 6. User permissions: The user account bound to the vehicle is logged in, and the terminal device (mobile phone) communicates normally with the T-BOX (signal strength ≥ -85dBm).

[0113] Optionally, when the conditions of "obstacle disappearance + abnormal posture (i.e., parking deviation) + safety conditions (i.e., no dynamic obstacles within the preset range)" are met, the communication module pushes personalized reminders according to the offset type. For example, if it detects that the vehicle is not centered when parking, it can prompt the user on the central control screen to activate the remote return-to-center assist function before the user leaves the vehicle, or remind the user via a mobile terminal after the user leaves the vehicle. After activation, precise interaction can be achieved as follows: 1. Reminder Content Generation: The processing module generates contextualized reminder messages based on the offset type, specifically including: Active Parking (Type A): "You previously chose to park in an X (left / right) position due to surrounding obstacles. The adjacent vehicle has now moved, and there is ample parking space. You can remotely adjust the parking position to a centered, straight parking position." 2. Passive Offset (Type B): "Your vehicle tilted X° after parking due to slight encroachment on the parking space. The obstacle has now disappeared and can be remotely adjusted to a straight parking position."

[0114] 3. Reminder push method: Push notifications are sent through two channels: mobile APP pop-up and message push (such as WeChat service notifications and SMS). The pop-up provides three interactive options: "Adjust now", "Adjust later" and "Ignore". The "Adjust later" option is set to remind you again after 30 minutes by default (the duration can be customized by the user).

[0115] 4. Interactive feedback processing: The user selects "Adjust Now": This will take them to the adjustment control interface, where real-time video and operation instructions will be displayed; 5. If the user selects "Reschedule Later": the appointment time will be recorded and a reminder will be automatically triggered at that time; 6. If the user chooses "ignore": mark the scenario as "user does not need correction" and do not remind the user again within 2 hours (can be adjusted as needed).

[0116] S609, Re-entering the berth.

[0117] In this embodiment, after the user triggers "Adjust Now", the system performs the correction operation according to the following process, achieving "visualization + interruptibility" throughout: 1. Two-way authentication: After receiving user commands, T-BOX uses a combination of "account password + biometrics (fingerprint / face)" for dual authentication to prevent accidental operation or unauthorized control; once the authentication is successful, the remote control mode is activated to lock the vehicle's doors and windows.

[0118] 2. Simplified Path Planning: Based on parking space parameters and the current attitude, the control module employs a mini-trajectory algorithm consisting of "two circular arcs + one straight line" (unlike existing complex multi-segment trajectories), providing the following example solution: The first arc (steering adjustment segment): Using the rear axle center as the center, plan an arc trajectory with a radius R = 0.8-1.2 times the vehicle width, adjust the vehicle body angle α to ≤1°, and the trajectory length ≤1.5m; The second straight line (translation segment): translate along the center line of the parking space, adjust the offset D to ≤1cm, and the translation distance ≤0.5m; The third arc (fine-tuning segment): fine-tune the vehicle body angle to ensure α≤0.5° and D≤0.5cm, completing the attitude calibration.

[0119] Specifically, during the path planning for position and posture adjustment, the control module can decompose the path command into steering angle (accuracy ±0.1°), vehicle speed (≤3km / h throughout the journey), and braking signal, and send them to the EPS steering system and VCU vehicle controller for execution. S610, complete centering and docking.

[0120] The centering and docking in this embodiment is relative to the position before the pose adjustment.

[0121] S611, Call the APA module.

[0122] In this embodiment, the APA module is invoked to control the vehicle to adjust its posture.

[0123] S612, parking video stream is transmitted to mobile device in real time.

[0124] In this embodiment, the perception module collects real-time vehicle status and environmental data, synchronizing it to a mobile app via T-BOX. The displayed content includes: real-time panoramic image, current attitude parameters (α, D), and adjustment progress (e.g., "60%)". Furthermore, an abnormal interruption mechanism is included: if a sudden obstacle is detected, the user clicks the "pause" button, or communication is interrupted (for 2 seconds), emergency braking is immediately triggered, the current adjustment progress is saved, and adjustment can resume after the fault is resolved. Additionally, functions for correction completion and status recovery are provided: after the adjustment is successful, the vehicle automatically switches to parking mode, engages the handbrake, and disables remote control mode; the communication module pushes an "adjustment complete" notification, along with a before-and-after attitude comparison image; the processing module updates the vehicle's attitude data and marks the scenario as "corrected".

[0125] In summary, this embodiment proactively triggers reminders: unlike existing methods where "users actively initiate remote vehicle relocation," this process proactively detects offset after parking and prompts the user to activate the function, better meeting potential user needs. Furthermore, it links remote wake-up with sentry mode: after the user leaves the vehicle, remote wake-up and sentry mode keep the module powered on, addressing the pain point of "sensors losing power and failing to monitor after leaving the vehicle." Moreover, through scenario-based adaptation: distinguishing between active and passive offset, it pushes personalized reminders and path planning to adapt to user-initiated operation scenarios, improving interaction accuracy.

[0126] Please see Figure 7 , Figure 7 This is a structural block diagram of a vehicle control device according to an embodiment of this application. Figure 7 The device can be applied to electronic devices, such as Figure 7 The device may include a detection module and a control module, wherein: The detection module is used to detect the state of the obstacle located in the second parking space when the vehicle enters the first parking space. The first and second parking spaces are adjacent. The control module is used to control the vehicle to perform a position adjustment when the obstacle is detected to have left the second parking space. The distance between a portion of the vehicle body after the position adjustment and the target parking space line is less than the distance between a portion of the vehicle body and the target parking space line before the position adjustment, and the distance between a portion of the vehicle body after the position adjustment and the target parking space line is not less than a first distance threshold. The target parking space line is the parking space line in the first parking space that is closest to the second parking space.

[0127] In one possible implementation, when the control module detects that an obstacle has left the second parking space and controls the vehicle to adjust its posture, it is configured to: when it detects that an obstacle has left the second parking space and receives a posture adjustment command from the mobile terminal, control the vehicle to adjust its posture, wherein the posture adjustment command is generated in response to the user's posture adjustment instruction.

[0128] In one possible implementation, the control module is further configured to: send a pose adjustment request to the mobile terminal when an obstacle is detected leaving the second parking space, so that the mobile terminal initiates a pose adjustment prompt based on the pose adjustment request, wherein the pose adjustment instruction is generated by the mobile terminal after receiving a pose adjustment instruction from the user after initiating the pose adjustment prompt.

[0129] In one possible implementation, when the control module detects that an obstacle has left the second parking space and controls the vehicle to adjust its posture, it is configured to: control the vehicle to adjust its posture when the distance between a part of the vehicle body and the target parking space line is not less than a second distance threshold and the obstacle has left the second parking space, wherein the second distance threshold is greater than a first distance threshold.

[0130] In one possible implementation, when the control module detects the state of the obstacle in the second parking space after the vehicle has entered the first parking space, it is used to: detect the state of the obstacle in the second parking space after the vehicle has entered the first parking space and the vehicle's posture adjustment function has been activated.

[0131] In one possible implementation, the control module is further configured to: when the vehicle enters the first parking space and detects that the distance between a portion of the vehicle body and the target parking space line is not less than a second distance threshold, send a prompt to the mobile terminal to enable the pose adjustment function; and enable the pose adjustment function upon receiving an instruction from the mobile terminal to enable the pose adjustment function.

[0132] In one possible implementation, when the control module detects that an obstacle has left the second parking space and controls the vehicle to adjust its posture, it is used to: control the vehicle to adjust its posture when it detects that an obstacle has left the second parking space and there are no dynamic obstacles within the preset range of the vehicle.

[0133] The apparatus in this embodiment can be described with reference to the above method, and will not be repeated here.

[0134] This application also provides an electronic device, please refer to... Figure 8 , Figure 8 The electronic device 800 shown includes a processor 810 and a memory 820, wherein the memory 810 is used to store computer programs; and the processor 820 is used to execute the programs stored in the memory 810 to implement the methods described in any embodiment of this application.

[0135] This application also provides a vehicle that includes the electronic equipment described in the above embodiments.

[0136] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in any embodiment of this application.

[0137] In this application, "multiple" refers to two or more.

[0138] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0139] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0140] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0141] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, if a method includes steps A and B, it means that the method may include steps A and B performed sequentially, or it may include steps B and A performed sequentially. For example, if a method may also include step C, it means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or it may include steps A, C, and B, or it may include steps C, A, and B, etc.

[0142] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, include: When the vehicle enters the first parking space, the status of the obstacle located in the second parking space is detected, and the first parking space is adjacent to the second parking space; When the obstacle is detected to have left the second parking space, the vehicle is controlled to perform a position adjustment. The distance between a portion of the vehicle body and the target parking space line after the position adjustment is less than the distance between the portion of the vehicle body and the target parking space line before the position adjustment, and the distance between the portion of the vehicle body and the target parking space line after the position adjustment is not less than a first distance threshold. The target parking space line is the parking space line that is closest to the second parking space among the first parking spaces.

2. The method according to claim 1, characterized in that, The step of controlling the vehicle to adjust its position and posture when the obstacle is detected to have left the second parking space includes: Upon detecting that the obstacle has left the second parking space and receiving a pose adjustment command from the mobile terminal, the vehicle is controlled to perform pose adjustment, wherein the pose adjustment command is generated in response to the user's pose adjustment instruction.

3. The method according to claim 2, characterized in that, The method further includes: If the obstacle is detected to have left the second parking space, a pose adjustment request is sent to the mobile terminal so that the mobile terminal can initiate a pose adjustment prompt based on the pose adjustment request. The pose adjustment instruction is generated by the mobile terminal after receiving a pose adjustment instruction from the user after initiating the pose adjustment prompt.

4. The method according to claim 1, characterized in that, The step of controlling the vehicle to adjust its position and posture when the obstacle is detected to have left the second parking space includes: If the distance between a portion of the vehicle body and the target parking space line is not less than a second distance threshold, and the obstacle is detected to have left the second parking space, the vehicle is controlled to adjust its position and posture, wherein the second distance threshold is greater than a first distance threshold.

5. The method according to claim 1, characterized in that, The method of detecting the state of obstacles located in the second parking space when the vehicle has entered the first parking space includes: When the vehicle enters the first parking space and the vehicle's posture adjustment function is activated, the status of the obstacle located in the second parking space is detected.

6. The method according to claim 5, characterized in that, The method further includes: When the vehicle enters the first parking space and the distance between a part of the vehicle body and the target parking space line is not less than the second distance threshold, a prompt to activate the pose adjustment function is sent to the mobile terminal. Upon receiving an instruction from the mobile terminal to enable the pose adjustment function, the pose adjustment function is enabled.

7. The method according to claim 1, characterized in that, The step of controlling the vehicle to adjust its position and posture when the obstacle is detected to have left the second parking space includes: If the obstacle is detected to have left the second parking space and there are no dynamic obstacles within the preset range of the vehicle, the vehicle is controlled to adjust its position and posture.

8. A vehicle control device, characterized in that, include: The detection module is used to detect the state of obstacles located in the second parking space when the vehicle enters the first parking space, wherein the first parking space and the second parking space are adjacent. The control module is used to control the vehicle to perform a position adjustment when the obstacle is detected to have left the second parking space. The distance between a portion of the vehicle body and the target parking space line after the position adjustment is less than the distance between the portion of the vehicle body and the target parking space line before the position adjustment, and the distance between the portion of the vehicle body and the target parking space line after the position adjustment is not less than a first distance threshold. The target parking space line is the parking space line in the first parking space that is closest to the second parking space.

9. An electronic device, characterized in that, Includes processor and memory, of which: Memory, used to store computer programs; A processor for executing a program stored in memory to implement the method described in any one of claims 1-7.

10. A vehicle, characterized in that, Including the electronic device as described in claim 9.

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