A method and apparatus for identifying a parking scenario

Abstract

A method for identifying parking scenarios includes: monitoring a vehicle's parking scenario; determining whether the vehicle has entered a parking space; after the vehicle enters the parking space, determining whether the vehicle intends to align with the parking space; after determining that the vehicle intends to align with the parking space, determining whether the vehicle has completed alignment with the parking space; after determining that the vehicle has completed alignment with the parking space, determining whether the vehicle has left the parking space; when determining that the vehicle has not left the parking space, using sensors to determine whether there are obstacles around the vehicle; and when determining that the vehicle has not left the parking space, activating a remote control mode for the vehicle.

Description

Technical Field

[0001] This disclosure relates to a method and apparatus for identifying parking scenarios. Background Technology

[0002] The following content provides only background information related to this implementation method and does not constitute prior art.

[0003] Automated parking is an autonomous driving technology. It's the technology that controls a vehicle to automatically park itself in a designated parking space. Remote Smart Parking Assist (RSPA) is a method for performing automated parking. RSPA provides convenience for drivers and passengers in difficult-to-get-into-park locations, such as narrow parking spaces, by allowing the driver to use a smart key outside the vehicle to automatically park it. RSPA includes automated parking methods based on ultrasonic sensors (RSPA) and automated parking methods based on surround-view monitoring (SVM) cameras (RSPA 2).

[0004] Cameras can clearly identify whether objects around a vehicle are people, vehicles, or other objects. On the other hand, ultrasound can detect objects around a vehicle, but its detection range is shorter and it cannot accurately identify objects. Because RSPA 2 performs automatic parking based on camera images, it is easier to identify parking spaces and obstacles around the vehicle compared to ultrasound-based RSPA. RSPA 2 can easily identify parking spaces and obstacles, thus performing automatic parking more safely than RSPA.

[0005] However, current automatic parking technology has some usability issues. Firstly, the remote forward / reverse function is not readily available when parking in tight spaces. Drivers often find it difficult to activate the remote forward / reverse function when attempting to park in confined spaces, causing inconvenience. For example, drivers frequently turn off the engine just before parking and then try to activate the remote forward / reverse function after remotely starting it. Current regulations require gear shifting and button operation to activate the remote forward / reverse function while driving. Furthermore, although the remote forward / reverse function can be activated via a pop-up window on the camera screen while driving, drivers often ignore or fail to recognize this prompt because they are focused on checking the camera feed around the vehicle.

[0006] Secondly, there are situations where RSPA 2 cannot be used to exit narrow perpendicular parking spaces. When using RSPA 2's smart parking mode in a perpendicular parking space with a vehicle or pillar on the driver's side (with the driver operating from inside the vehicle), even if the function terminates after parking, the driver may still be unable to open the door. In this case, it is necessary to separately activate the remote forward / reverse function or readjust the vehicle, which is inconvenient. Under current regulations, if the driver leaves the vehicle with the smart key, they can switch to remote parking mode once, but it is difficult to predict situations where obstacles are too close to open the door.

[0007] These issues impact the user experience of automated parking technology, especially in tight parking spaces, requiring additional technological solutions to improve driver convenience and safety. Summary of the Invention

[0008] The purpose of this disclosure is to provide convenience and efficiency for drivers in parking situations where it is difficult for the driver or passengers to get out of the vehicle, by proactively suggesting remote parking functions and minimizing operational procedures.

[0009] The purpose of this disclosure is to correctly identify whether a vehicle has entered a perpendicular or angled parking state when an obstacle is detected around the vehicle before the vehicle completes parking, and to suggest to the driver a side parking mode via remote control.

[0010] The purpose of this disclosure is not limited to the above-mentioned purposes, and those skilled in the art should clearly understand from this disclosure other purposes not mentioned.

[0011] One embodiment of this disclosure provides a method for identifying parking scenarios, including monitoring the parking scenario of a vehicle. The method further includes determining whether a vehicle has entered a parking space. The method further includes, after the vehicle has entered the parking space, determining whether the vehicle intends to align with the parking space. The method further includes, after determining that the vehicle intends to align with the parking space, determining whether the vehicle has completed alignment with the parking space. The method further includes, after determining that the vehicle has completed alignment with the parking space, determining whether the vehicle has left the parking space. The method further includes, when it is determined that the vehicle has not left the parking space, using sensors to determine whether there are obstacles around the vehicle. The method further includes, when it is determined that the vehicle has not left the parking space, activating a remote control mode for the vehicle.

[0012] Another embodiment of this disclosure provides an apparatus for identifying parking scenarios, including at least one memory configured to store instructions and at least one processor. The at least one processor is configured to monitor a vehicle's parking scenario by executing the instructions. The at least one processor is further configured to determine whether a vehicle has entered a parking space. The at least one processor is further configured to determine, after the vehicle has entered the parking space, whether the vehicle intends to align with the parking space. The at least one processor is further configured to determine, after determining that the vehicle intends to align with the parking space, whether the vehicle has completed alignment with the parking space. The at least one processor is further configured to determine, after determining that the vehicle has completed alignment with the parking space, whether the vehicle has left the parking space. The at least one processor is further configured to use sensors to determine whether there are obstacles around the vehicle when it is determined that the vehicle has not left the parking space. The at least one processor is further configured to activate a remote control mode for the vehicle when it is determined that the vehicle has not left the parking space.

[0013] According to embodiments of this disclosure, convenience can be provided to drivers by improving the accessibility of remote control mode in narrow vertical parking areas.

[0014] According to embodiments of this disclosure, when parking in a narrow vertical parking area using Remote Smart Parking Assist (RSPA 2) based on a Surround View Monitoring (SVM) camera, the problem of insufficient space for getting in and out of the vehicle can be solved by supporting a remote control mode function after smart parking is completed.

[0015] According to embodiments of this disclosure, parking scenarios between vehicles can be effectively identified even in low-light conditions at night, even without parking lines or perpendicular parking.

[0016] The effects of this disclosure are not limited to those mentioned above, and other effects not mentioned should be clearly understood by those skilled in the art from the following description. Attached Figure Description

[0017] Figure 1 This is a connection state diagram between a vehicle and a driver terminal according to an embodiment of the present disclosure.

[0018] Figure 2 This is a block diagram of a vehicle according to an embodiment of the present disclosure.

[0019] Figure 3 This is a block diagram of a control device according to an embodiment of the present disclosure.

[0020] Figure 4 This is a flowchart of the operation process of the control device according to an embodiment of the present disclosure.

[0021] Figure 5A , 5BFigures 5 and 5C are example diagrams illustrating the parking control unit recognizing a parking scenario according to embodiments of the present disclosure.

[0022] Figure 6A , 6B Figures 6 and 6C are example diagrams showing that the parking control unit according to an embodiment of the present disclosure does not recognize the parking scenario.

[0023] Figure 7 This is a block diagram schematically illustrating a computing device that can be used to implement the method or apparatus according to this disclosure. Detailed Implementation

[0024] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In this disclosure, the same reference numerals denote the same elements, even if the elements are shown in different drawings. Furthermore, for clarity and brevity, detailed descriptions of known functions and configurations have been omitted in this disclosure.

[0025] Furthermore, various terms such as first, second, A, B, (a), (b), etc., are used only to distinguish one component from another and do not imply or indicate the substance, order, or sequence of the components. Throughout this disclosure, when a portion "comprises" or "includes" a component, unless otherwise expressly stated, that portion is intended to further include other components without excluding them. Terms such as "unit" or "module" refer to one or more units for performing at least one function or operation, which may be implemented by hardware, software, or a combination thereof. When controllers, units, modules, components, devices, elements, etc., of this disclosure are described as having a purpose or performing an operation, function, etc., such controllers, units, modules, components, devices, elements, etc., should be regarded herein as being "configured" to achieve that purpose or perform that operation or function. Each controller, unit, module, component, device, element, etc., may be embodied individually or included as part of an apparatus together with a processor and memory (e.g., a non-transitory computer-readable medium).

[0026] The following detailed description, together with the accompanying drawings, is intended to describe embodiments of this disclosure and is not intended to represent the only embodiments in which this disclosure can be practiced.

[0027] Figure 1 This is a connection state diagram between the vehicle 10 and the driver terminal 20 according to an embodiment of the present disclosure.

[0028] Reference Figure 1 Vehicle 10 includes electric vehicles (EVs), but is not limited to a specific type of vehicle, and may include various vehicle types, such as internal combustion engine vehicles or hybrid vehicles.

[0029] The driver terminal 20 can access various functions of the vehicle and remotely transmit driver commands to the vehicle 10. The driver terminal 20 includes a smart key and can be implemented as a smartphone application or a remote control device as needed. The driver can use the remote control application on the driver terminal 20 to monitor the parking status of the vehicle 10 and send control commands.

[0030] Network 30 connects vehicle 10 and driver terminal 20, and can be a closed network such as a local area network (LAN) or wide area network (WAN), or an open network such as the Internet. Here, the Internet refers to a global open computer network architecture that provides the TCP / IP protocol and various upper-layer services (i.e., Hypertext Transfer Protocol (HTTP), Telnet, File Transfer Protocol (FTP), Domain Name System (DNS), Simple Mail Transfer Protocol (SMTP), Simple Network Management Protocol (SNMP), Network File Service (NFS), and Network Information Service (NIS)).

[0031] Figure 2 This is a block diagram of a vehicle 10 according to an embodiment of the present disclosure.

[0032] Reference Figure 2 The vehicle 10 may include all or some of the battery 40, communication control unit (CCU) 50, and automatic parking control device (hereinafter referred to as "control device 100"). Figure 2 The components shown represent functionally distinct elements; in a real physical environment, one or more components can be integrated.

[0033] Battery 40 can power the operation of electrical components in vehicle 10 and can be powered through at least one power output terminal. For example, the B+ terminal of main battery 40 can be connected to control device 100 and can provide 12V operating power through the B+ terminal.

[0034] The CCU 50 is an integrated wired and wireless communication controller for connectivity and data transmission between the vehicle's interior and exterior. The CCU 50 can provide wireless software updates and driving experience enhancements, such as vehicle data collection and remote diagnostics. Furthermore, the CCU 50 can transmit and receive signals with remote control applications. These remote control applications may include, but are not limited to, Bluelink, Kia Connected, and My Genesis.

[0035] The control unit 100 determines whether the vehicle 10 has stopped based on driving data from the vehicle 10. When an obstacle is detected using ultrasonic sensors located on the side of the vehicle 10, the control unit 100 can proactively suggest an appropriate remote parking function to the driver. The control unit 100 checks for obstacles that may obstruct the driver or front passenger from exiting the vehicle. If it is difficult for passengers to exit, the control unit 100 allows the driver to use the remote parking function without performing additional complex operations. Therefore, the control unit 100 can help the driver park and exit the vehicle more efficiently and safely. The control unit 100 links to various sensors inside the vehicle 10 and the CCU 50, and can exchange data in real time through communication with the driver terminal 20. In this process, the control unit 100 comprehensively analyzes the vehicle and its surroundings, contributing to an improved driver experience.

[0036] Figure 3 This is a block diagram of a control device 100 according to an embodiment of the present disclosure. For explanation... Figure 3 You can also refer to Figure 1 .

[0037] Reference Figure 3 The control device 100 may include all or some of the sensor unit 110, the parking control unit 120, and the display 130. Figure 3 The components shown represent functionally distinct elements; in a real physical environment, one or more components can be integrated.

[0038] Sensor unit 110 may include various types of sensors to collect driving data and surrounding environment data. For example, sensor unit 110 may include a steering wheel angle sensor, an ultrasonic sensor, a time-of-flight (TOF) sensor, a radar sensor, a speed sensor, a camera sensor, etc.

[0039] Sensor unit 110 collects driving data and surrounding environment data of vehicle 10. Here, driving data may include at least one of steering wheel operation angle, gear shift direction, and vehicle speed. Steering wheel operation angle is a value indicating the degree to which the driver turns the steering wheel to change the direction of vehicle 10. For example, if the driver turns the steering wheel to the right, the steering wheel operation angle is measured as a positive (+) angle. If the driver turns the steering wheel to the left, the steering wheel operation angle is measured as a negative (-) angle.

[0040] The parking control unit 120 may include at least one of a cluster unit (CLU) controller, an engine control unit (ECU) controller, an electronic stability control (ESC) controller, an anti-lock braking system (ABS) controller, a body control unit (BCU) controller, a smart junction box (SJB), and a smart key (SMK) controller.

[0041] The parking control unit 120 analyzes data received from the sensor unit 110 to monitor whether the vehicle 10 is currently parked or moving. In other words, the parking control unit 120 identifies a parking scenario when specific conditions are met by driver actions or remote intelligent parking assistance (RSPA 2) based on a surround-view monitoring (SVM) camera. To this end, the parking control unit 120 can analyze the movement pattern of the vehicle 10 and identify the parking scenario by preprocessing data such as steering wheel operation angle, gear shift, and vehicle speed. Here, specific conditions may include conditions such as the vehicle 10 entering the parking space at low speed, the vehicle 10 adjusting its direction to align with the parking space direction to enter the parking space, and the vehicle entering the parking space after alignment. Parking scenarios may include, but are not limited to, perpendicular parking, parallel parking, and side parking. For example, if a large steering operation and gear change are detected at low speed, the parking control unit 120 can determine that the vehicle 10 is about to enter the parking space.

[0042] When the distance between the vehicle and an obstacle is equal to or less than a certain value, the parking control unit 120 determines that the driver has difficulty getting out of the vehicle, and the parking control unit 120 suggests remote control mode. Remote control mode can be activated by the driver using a smart key or a smartphone application. In remote control mode, various functions, including remote parking, can be performed.

[0043] Display 130 shows the remote control screen configured by parking control unit 120. Display 130 provides an intuitive and visual user experience with suggestions on parking status and remote control mode. Display 130 can also be used as an input device for receiving user input to function buttons included in the remote control screen. Display 130 can be implemented in the form of a touchscreen including touch sensors such as a touch film or touchpad.

[0044] Figure 4 This is a flowchart illustrating the operation process of the control device 100 according to an embodiment of the present disclosure.

[0045] The sensor unit 110 receives driving data and surrounding environment data of the vehicle 10 in real time (S402). Here, the driving data may include at least one of the following: steering wheel operation angle, gear shift direction, and vehicle speed.

[0046] The parking control unit 120 analyzes the data received from the sensor unit 110 to monitor whether the vehicle 10 is currently parked or moving (S404). The parking control unit 120 analyzes the movement pattern of the vehicle 10 by preprocessing data such as steering wheel operation angle, gear shifting, and vehicle speed, and identifies specific parking scenarios. Here, specific parking scenarios include, but are not limited to, perpendicular parking, parallel parking, and side parking.

[0047] The parking control unit 120 determines whether a gear shift has occurred in the opposite direction (S406). This is determined by comparing the previous gear with the current gear. In other words, if the previous gear was D (Drive) and the current gear was R (Reverse), or if the previous gear was R and the current gear was D, the parking control unit 120 determines that a gear shift has occurred in the opposite direction. If no gear shift in the opposite direction is determined (S406 - No), then monitoring step S404 is executed.

[0048] Once it is determined that a gear shift is to occur in the opposite direction (S406 - Yes), the parking control unit 120 determines whether the vehicle 10 intends to enter the parking space (S408). The parking control unit 120 analyzes the state of the previous and current gears based on data collected from the sensor unit 110. First, the parking control unit 120 checks whether the vehicle 10 is maintaining a low speed and whether the steering wheel operation angle in the previous gear exceeds, for example, ±270 degrees in one direction. Here, maintaining a low speed means that the vehicle maintains a speed equal to or less than 10 km / h. The steering wheel operation angle refers to the physical operation of the user directly turning the steering wheel; exceeding ±270 degrees means that the steering wheel is turned more than 270 degrees to the left or more than 270 degrees to the right. If the vehicle 10 is maintaining a low speed and the steering wheel operation angle exceeds ±270 degrees in one direction, the parking control unit 120 determines that the vehicle 10 is entering the parking space. If it is not determined that the vehicle 10 is entering the parking space (S408 - No), then monitoring step S404 is executed.

[0049] If it is determined that vehicle 10 is entering a parking space (S408 - Yes), the parking control unit 120 determines whether vehicle 10 intends to align itself within the parking space in the current gear (S410). In other words, the parking control unit 120 determines whether vehicle 10 turns the steering wheel in the opposite direction to align with the parking space. For example, if a steering wheel operation exceeding ±180 degrees is detected in the current gear, the parking control unit 120 determines that vehicle 10 intends to align with the parking space. Here, the steering wheel operation needs to be opposite to the direction of steering wheel operation exceeding ±270 degrees in the previous gear. For example, when vehicle 10 enters the parking space after shifting to R, the parking control unit 120 checks whether vehicle 10 has shifted to D and turned the steering wheel in the opposite direction to the direction of turning the steering wheel when entering the parking space.

[0050] If it is determined that there is no intention to align within the parking space (S410 - No), the parking control unit 120 determines whether there is an additional gear shift (S412). In other words, if it is determined that there is no intention to align within the parking space, when shifting to P or N (S412 - Yes), all processes are initialized, and the parking control unit 120 returns to the step of monitoring the parking scenario (S404). On the other hand, when shifting to D or R (S412 - No), the parking control unit 120 determines whether to attempt to align within the parking space again.

[0051] If it is determined that there is an intention to align with the parking space (S410 - Yes), the parking control unit 120 determines whether the vehicle 10 has completed alignment with the parking space (S414). The parking control unit 120 determines whether the vehicle 10 has completed alignment with the parking space based on the steering state and travel distance of the vehicle 10. When the vehicle 10 maintains a narrow steering wheel angle and moves forward or backward a certain distance, the parking control unit 120 determines that the vehicle 10 has completed alignment with the parking space. Here, a narrow steering wheel angle means that the steering wheel operation angle is maintained at, for example, ±45 degrees or less. A certain distance means that the vehicle 10 moves forward or backward, for example, 0.5 meters or more.

[0052] If it is determined that alignment within the parking space has not been completed (S414 - No), the parking control unit 120 determines whether there is an additional gear shift. In other words, if it is determined that alignment within the parking space has not been completed (S414 - No), when shifting to P or N gear (S412 - Yes), the parking control unit 120 returns to the step of monitoring the parking scenario (S404). On the other hand, if shifting to D or R gear (S412 - No), the parking control unit 120 again determines whether alignment within the parking space has been completed.

[0053] If it is determined that vehicle 10 has completed alignment within the parking space (S414 - Yes), the parking control unit 120 identifies the current state of vehicle 10 as a parking scenario (S416). Subsequently, the parking control unit 120 determines whether vehicle 10 has left the parking space (S418). To make this determination, after completing alignment within the parking space, it is determined whether a sudden steering wheel operation has occurred in vehicle 10. A sudden steering wheel operation refers to a steering wheel operation angle exceeding, for example, ±180 degrees. If a sudden steering wheel operation is detected, the parking control unit 120 determines that vehicle 10 intends to leave the parking space (S418 - Yes) and returns to the step of monitoring the parking scenario (S404).

[0054] If it is determined that vehicle 10 has not left the parking space (S418 - No), the parking control unit 120 monitors the driving direction and lateral area of ​​vehicle 10 using ultrasonic sensors or TOF sensors. The parking control unit 120 uses TOF sensors on the driver's and passenger's sides to detect the distance between vehicle 10 and surrounding obstacles and determines whether an obstacle exists within a certain distance, such as 0.5 meters (S420). Therefore, the parking control unit 120 can optimize the parking state of vehicle 10 and prevent potential collisions by continuously checking the surrounding environment as vehicle 10 moves or remains aligned within the parking space.

[0055] If an obstacle is detected by the TOF sensor on the driver's or passenger's side (S420 - Yes), the parking control unit 120 determines that an object exists around the vehicle. Before the driver's side door reaches a certain distance from the location of the obstacle, the parking control unit 120 can suggest a remote control mode to the driver (S422). In other words, the parking control unit 120 can provide visual feedback to the driver by conveying the information displayed on the CLU. Then, when the driver exits the vehicle with the smart key, the parking control unit 120 activates the remote control mode.

[0056] For example, if the driver opens the door after the vehicle 10 has aligned itself within the parking space and reversed to complete the parking maneuver, the gear will automatically shift to P (Park) as soon as the door is opened. The CLU (Carriage Control Unit) displays a guidance message: "For easy exit, remote forward / reverse function will be activated when exiting the vehicle using the smart key." Therefore, the driver can leave the vehicle 10 and remotely park using the smart key or smartphone.

[0057] In another example, if the driver parks vehicle 10 in a location unsuitable for exiting, the parking control unit 120 maintains remote control mode, allowing the vehicle to be moved to a position where the driver can leave vehicle 10. The CLU displays a message guiding the driver to a suitable exit position, and the driver can exit the vehicle using the smart key or smartphone and use remote control mode to move the vehicle to the appropriate location. During this process, the driver can operate the vehicle by pressing the reverse button on the smart key, causing the vehicle to reverse into the parking space.

[0058] In another example, if vehicle 10 enters a parking space perpendicularly while RSPA 2 mode is activated, but fails to align, the CLU displays a guidance message: "For ease of exiting the vehicle, remote forward / backward function will be activated when exiting with the smart key" or "For ease of exiting the vehicle, remote forward / backward function will be activated when exiting with the smart key." Subsequently, if the driver leaves the vehicle with the smart key or smartphone, the parking control unit 120 activates RSPA 2 remote control mode. The driver can then leave vehicle 10 and remotely complete parking using the smart key or smartphone.

[0059] As another example, when RSPA 2 mode reaches its final stage and alignment is complete, the CLU displays a guidance message: "For easy exit, remote forward / backward function will be activated when exiting the vehicle with the smart key." The driver can activate the forward assist function by pressing and holding the interior parking view button on the CLU. Subsequently, when the driver leaves the vehicle with the smart key or smartphone, the parking control unit 120 activates the RSPA 2 remote control mode. Therefore, the driver can leave the vehicle 10 and remotely complete parking using the smart key or smartphone.

[0060] Figure 5A , 5B Figures 5 and 5C are example diagrams illustrating the parking control unit 120 recognizing a parking scenario according to an embodiment of the present disclosure.

[0061] Figure 5A The diagram illustrates a method for parking vehicle 10 in reverse. The driver identifies a parking space, keeps vehicle 10 in reverse, and approaches the parking space by turning the steering wheel sharply. The driver then turns the steering wheel in the opposite direction to align the vehicle into the parking space. Once aligned, the vehicle is finally in the parking space. Afterward, if no event occurs such as vehicle 10 leaving the parking space, the parking control unit 120 activates the RSPA2 remote control mode when the driver leaves the vehicle with the smart key or smartphone. Therefore, the driver can leave vehicle 10 and remotely complete parking using the smart key or smartphone.

[0062] Figure 5B The diagram illustrates a perpendicular forward parking maneuver for vehicle 10. The driver identifies the parking space, keeps vehicle 10 in reverse, and approaches the parking space by turning the steering wheel sharply. The driver then operates the steering wheel in the opposite direction to align the vehicle into the parking space. Once aligned, vehicle 10 is finally in the parking space. Afterward, if no event occurs such as vehicle 10 leaving the parking space, the parking control unit 120 activates the RSPA 2 remote control mode when the driver leaves the vehicle with the smart key or smartphone. Therefore, the driver can leave vehicle 10 and remotely complete parking using the smart key or smartphone.

[0063] Figure 5C An example of vehicle 10 reversing into a narrow space is shown.

[0064] The driver identifies the parking space, keeps vehicle 10 in reverse, and approaches the parking space by turning the steering wheel sharply. The driver then operates the steering wheel in the opposite direction to perform the alignment process into the parking space. In narrow areas, additional alignment within the parking space may be required. Once aligned, vehicle 10 is finally in the parking space. Afterward, if no event occurs such as vehicle 10 leaving the parking space, the parking control unit 120 activates the RSPA 2 remote control mode when the driver leaves the vehicle with the smart key or smartphone. Therefore, the driver can leave vehicle 10 and remotely complete parking using the smart key or smartphone.

[0065] Figure 6A , 6B Figures 6 and 6C are example diagrams showing that the parking control unit 120 according to an embodiment of the present disclosure does not recognize a parking scenario.

[0066] Figure 6A This diagram illustrates a method of avoiding a collision by reversing when another vehicle 20 approaches while vehicle 10 is parked in a narrow alley.

[0067] The driver identifies a parking space, keeps vehicle 10 in reverse, and approaches the parking space by turning the steering wheel sharply (indicated by the dashed line). However, since this is an operation to prevent another vehicle 20 from approaching, no additional alignment is required, so the parking control unit 120 does not recognize this operation as a parking scenario.

[0068] Figure 6B The method of reversing vehicle 10 is shown.

[0069] in other words, Figure 6B An example is shown where a driver identifies a parking space, turns the steering wheel in one direction while driving straight, and then turns the steering wheel in the opposite direction to enter the parking space. However, because no additional alignment occurs, the parking control unit 120 does not recognize this situation as a parking scenario.

[0070] Figure 6C The parallel parking method of vehicle 10 is shown.

[0071] The driver identifies a parking space, keeps vehicle 10 in reverse, and approaches the parking space by turning the steering wheel at a large angle. However, during the reversing movement of vehicle 10 (indicated by dashed lines), the parking control unit 120 does not recognize the driver's steering wheel operations in two directions as a parking scenario.

[0072] Figure 7This is a block diagram schematically illustrating a computing device that can be used to implement the method or apparatus according to this disclosure.

[0073] The computing device 70 may include some or all of a memory 700, a processor 720, a storage device 740, an input / output interface 760, and a communication interface 780. The computing device 70 may be a fixed computing device such as a desktop computer or server, or a mobile computing device such as a laptop computer or smartphone. The computing device 70 may include any dedicated hardware accelerator capable of efficiently processing artificial intelligence model operations. For example, the computing device 70 may include a graphics processing unit (GPU), a tensor processing unit (TPU), or a neural processing unit (NPU).

[0074] The memory 700 may store programs that cause the processor 720 to perform methods or operations according to various embodiments of the present disclosure. For example, the program may include multiple instructions executable by the processor 720, and the methods or operations described above may be performed by the processor 720 executing the multiple instructions. The memory 700 may be a single memory or multiple memories. In this case, the information required to perform the methods or operations according to various embodiments of the present disclosure may be stored in a single memory or may be stored in multiple memories in a distributed manner. When the memory 700 includes multiple memories, the multiple memories may be physically separated. The memory 700 may include at least one of volatile memory or non-volatile memory. Volatile memory includes static random access memory (SRAM) or dynamic random access memory (DRAM), and non-volatile memory includes flash memory, etc.

[0075] Processor 720 may include at least one core capable of executing at least one instruction. Processor 720 may execute instructions stored in memory 700. Processor 720 may be a single processor or multiple processors.

[0076] Storage device 740 retains stored data even when power to computing device 70 is cut off. For example, storage device 740 may include non-volatile memory and may include storage media such as magnetic tape, optical disc, and magnetic disk. Programs stored in storage device 740 may be loaded into memory 700 before being executed by processor 720. Storage device 740 may store files written in a programming language, and programs generated from those files by a compiler or the like may be loaded into memory 700. Storage device 740 may store data to be processed by processor 720 and / or data processed by processor 720.

[0077] The input / output interface 760 can provide an interface with input devices such as a keyboard or mouse and / or output devices such as a display device or printer. Users can trigger the processor 720 to execute programs through the input devices and / or check the processing results of the processor 720 through the output devices.

[0078] The communication interface 780 can provide access to an external network. The computing device 70 can communicate with other devices through the communication interface 780. The various elements of the apparatus or method according to the invention can be implemented in hardware, software, or a combination of both. The functions of each element can be implemented in software, and a microprocessor can be implemented to execute the software functions corresponding to each element.

[0079] Various implementations of the systems and techniques described herein can be implemented using digital electronic circuits, integrated circuits, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), computer hardware, firmware, software, and / or combinations thereof. Various implementations may include implementation using one or more computer programs executable on a programmable system. The programmable system includes at least one programmable processor, which may be a dedicated processor or a general-purpose processor, coupled to receive and send data and instructions from a storage system, at least one input device, and at least one output device. The computer program (also referred to as a program, software, software application, or code) includes instructions for the programmable processor and is stored in a computer-readable recording medium.

[0080] Computer-readable recording media can include all types of storage devices capable of storing computer-readable data. Computer-readable recording media can be non-volatile or non-transitory media such as read-only memory (ROM), random access memory (RAM), optical disc ROM (CD-ROM), magnetic tape, floppy disk, or optical data storage devices. Furthermore, computer-readable recording media can further include transient media such as data transmission media. Moreover, computer-readable recording media can be distributed across computer systems connected via a network, and computer-readable program code can be stored and executed in a distributed manner.

[0081] Although the operations shown in the flowcharts / timing diagrams of this disclosure are depicted as being executed sequentially, this is merely a description of the technical concept of one embodiment of this disclosure. In other words, those skilled in the art will understand that various modifications and changes can be made without departing from this disclosure. In other words, the order shown in the flowcharts / timing diagrams can be changed, and one or more operations in the sequence can be executed in parallel. Therefore, the flowcharts / timing diagrams are not limited to a temporal order.

[0082] Although embodiments of this disclosure have been described for illustrative purposes, those skilled in the art will understand that various modifications, additions, and substitutions are possible without departing from the spirit and scope of the claimed invention. Therefore, the embodiments of this disclosure are described for brevity and clarity. The scope of the technical concept of these embodiments is not limited by the illustrations. Therefore, those skilled in the art will understand that the scope of this disclosure should not be limited to the embodiments explicitly described above, but rather to the claims and their equivalents.

Claims

1. A method for identifying parking scenarios, the method comprising the following steps: Monitor vehicle parking scenarios; Determine whether the vehicle has entered the parking space; After determining that the vehicle has entered the parking space, determine whether the vehicle intends to align with the parking space; Determine whether the vehicle has been aligned with the parking space; After confirming that the vehicle has completed alignment with the parking space, determine whether the vehicle has left the parking space; When it is determined that the vehicle has not left the parking space, sensors are used to determine whether there are obstacles around the vehicle; as well as When it is determined that the vehicle has not left the parking space, the remote control mode of the vehicle is activated.

2. The method according to claim 1, further comprising the following step: Before monitoring the vehicle's parking scenario, driving data and surrounding environment data are collected in real time.

3. The method according to claim 1, further comprising the following step: Before determining whether the vehicle has entered the parking space, determine whether the vehicle has shifted gears in the opposite direction.

4. The method according to claim 1, further comprising the following steps: After determining whether the vehicle intends to align with the parking space, it is determined whether the vehicle shifts gears.

5. The method according to claim 4, wherein, The steps for determining whether the vehicle has shifted gears include: monitoring the vehicle's parking scenario when shifting to P or N gear.

6. The method according to claim 5, wherein, The steps for determining whether the vehicle has shifted gears include: when shifting to D or R gear, determining whether the vehicle intends to align with the parking space.

7. The method according to claim 1, further comprising the step of determining whether the vehicle has shifted gears when it is determined that the vehicle has not completed alignment with the parking space.

8. An apparatus for identifying parking scenarios, the apparatus comprising: At least one memory is configured to store instructions; as well as At least one processor is configured to execute the instructions to: Monitor vehicle parking scenarios; Determine whether the vehicle has entered the parking space; After the vehicle enters the parking space, determine whether the vehicle intends to align with the parking space; After determining that the vehicle intends to align with the parking space, determine whether the vehicle has completed the alignment with the parking space; After confirming that the vehicle has completed alignment with the parking space, determine whether the vehicle has left the parking space; When it is determined that the vehicle has not left the parking space, sensors are used to determine whether there are obstacles around the vehicle; as well as When it is determined that the vehicle has not left the parking space, the remote control mode of the vehicle is activated.

9. The apparatus of claim 8, wherein the at least one processor is further configured to: collect driving data and surrounding environment data in real time before monitoring the parking scenario of the vehicle.

10. The apparatus of claim 8, wherein the at least one processor is further configured to: determine whether the vehicle is shifting gears in the opposite direction before determining whether the vehicle has entered the parking space.

11. The apparatus of claim 8, wherein the at least one processor is further configured to: determine whether the vehicle has shifted gears after determining whether the vehicle intends to align with the parking space.

12. The apparatus of claim 11, wherein the at least one processor is further configured to: monitor a parking scenario of the vehicle when shifting to P or N gear.

13. The apparatus of claim 12, wherein the at least one processor is further configured to: determine whether the vehicle intends to align with the parking space when shifting to D or R.

14. The apparatus of claim 8, wherein the at least one processor is further configured to: determine whether the vehicle has shifted gears when it is determined that the vehicle has not completed alignment with the parking space.

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