Vehicle parking methods, devices, equipment and media

Abstract

This application discloses a parking method, apparatus, device, and medium for a vehicle, belonging to the field of vehicle technology. The method includes: receiving an automatic parking command; acquiring the states of multiple body components in the vehicle based on the automatic parking command, the states including an open state and a closed state; the body components include components that affect the vehicle's outline during automatic parking and / or components that affect the driver's field of vision during automatic parking when in an open state; if at least one of the multiple body components is in an open state, displaying a prompt indicating that parking conditions are not met; receiving a one-click deactivation command input by the driver based on the prompt; setting the states of all body components to a closed state based on the one-click deactivation command and the states of each body component; and performing parking based on the automatic parking command after all body components are set to a closed state.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a parking method, apparatus, device, and medium for a vehicle. Background Technology

[0002] With the rapid development of automotive intelligent technology, automatic parking technology has gradually become a standard feature in mid-to-high-end models, and is even becoming common in entry-level models. Automatic parking technology can automatically identify parking spaces and complete the parking operation, greatly reducing the driver's parking burden. However, the safety of automatic parking is also a significant concern. Therefore, improving the safety of automatic parking is an urgent problem to be solved. Summary of the Invention

[0003] In view of the above problems, this application is made to provide a parking method, apparatus, device and medium for vehicles that solves the above problems and can improve the safety of automatic parking.

[0004] In a first aspect, this application provides a method for parking a vehicle, the method comprising: Receive automatic parking commands; The automatic parking command is used to obtain the status of multiple body components in the vehicle, including an open state or a closed state; the body components include components that affect the outline of the vehicle body when in the open state and / or components that affect the driver's field of vision when in the automatic parking state. If at least one of the multiple body parts is in the open state, a message indicating that the parking conditions are not met will be displayed. Receive a one-click shutdown command input by the driver based on the prompt; Based on the one-click shutdown command and the status of each body component, the status of all body components is set to the off state; After all vehicle body components are set to the off state, parking is performed based on the automatic parking command.

[0005] In one embodiment, setting the state of all body components to the off state based on the one-click shutdown command and the state of each body component includes: For each body component, based on the one-click shutdown command, it is detected whether the current body component is in a closed state; If it is not in the off state, a shutdown control command is sent to the current body component, which is used to control the current body component to shut down.

[0006] In one embodiment, after obtaining the status of multiple body components in the vehicle based on the automatic parking command, the method further includes: If at least one of the multiple body parts is in the open state, then each of the at least one body part is marked as the target body part. Accordingly, based on the one-click shutdown command and the status of each body component, setting the status of all body components to the off state includes: Based on the one-click shutdown command, the status of the marked target vehicle body component is set to the off state.

[0007] In one embodiment, the components affecting the vehicle body profile during automatic parking include at least one of the following: door components, rearview mirrors, trunk, and a power replenishment interface component; the power replenishment interface component includes a charging interface component and / or a refueling interface component; The components that affect the driver's visibility during automatic parking include: the hood.

[0008] In one embodiment, if only one of the at least one body component exists, and that component is the hood, the notification indicating that parking conditions are not met includes: Determine the relative position of the parking area and the vehicle; Based on the relative position, the permissible opening range of the front hatch is determined; If the opening range of the hood exceeds the allowable opening range, a message indicating that the parking conditions are not met will be displayed.

[0009] If the opening range of the hood is not greater than the allowable opening range, parking will be performed based on the automatic parking command.

[0010] In one embodiment, if at least one of the multiple body components is in an open state, displaying a prompt indicating that parking conditions are not met includes: If at least one of the multiple body parts is in an open state, then it is determined whether the first preset condition is met; the first preset condition is that each of the at least one body part is a power replenishment interface part, and there is an energy replenishment device around the parking area. If the first preset condition is not met, a prompt indicating that the parking condition is not met will be displayed; If the first preset condition is met, then based on the automatic parking command, the device position of the energy replenishment device, the component position and shape of the energy replenishment interface component on the vehicle are determined; Based on the location and shape of the component and the location of the device, a parking planning path is generated; The vehicle is automatically parked according to the parking planning path.

[0011] In one embodiment, the step of displaying a prompt indicating that parking conditions are not met if at least one of the multiple body components is in an open state includes: If at least one of the multiple body parts is in an open state, it is determined whether the second preset condition is met; the second preset condition is that the at least one body part and the parking area are on different sides of the vehicle, the body part is located on the left or right side of the vehicle, and the parking area includes the left or right side of the vehicle. If the second preset condition is not met, a message indicating that the parking conditions are not met will be displayed. If the second preset condition is met, parking is performed based on the automatic parking command.

[0012] Secondly, this application provides a parking device for a vehicle, the device comprising: The first receiving module is used to receive automatic parking commands; The acquisition module is used to acquire the status of multiple body components in the vehicle based on the automatic parking command. The status includes an open state or a closed state. The body components include components that affect the outline of the vehicle body when in the open state and / or components that affect the driver's field of vision when in the automatic parking state. The display module is used to display a prompt that the parking conditions are not met if at least one of the multiple body parts is in the open state. The second receiving module is used to receive a one-click shutdown command input by the driver based on the prompt; The setting module is used to set the status of all body components to the off state based on the one-click shutdown command and the status of each body component; The parking module is used to park the vehicle based on the automatic parking command after all body components are set to the off state.

[0013] Thirdly, this application provides an electronic device, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method as described in the first aspect.

[0014] Fourthly, this application provides a computer-readable storage medium storing computer instructions for causing the computer to perform the method described in the first aspect.

[0015] The technical solutions provided in this application embodiment have at least the following technical effects or advantages: This application provides a vehicle parking method, apparatus, device, and medium. In this application, since opening components affecting the vehicle's outline during automatic parking may cause vehicle scraping along the planned path, and opening components affecting the driver's visibility during automatic parking can impair the driver's view when parking is taken over, both of these can lead to parking safety issues. Therefore, after receiving an automatic parking command, this application obtains the status of multiple vehicle body components based on the command. If at least one of the multiple body components is in an open state, automatic parking will not proceed immediately; instead, a prompt indicating that parking conditions are not met will be displayed. Then, a one-click deactivation command input by the driver based on the prompt will be received. Based on the one-click deactivation command and the status of each body component, the status of all body components will be set to the closed state before parking. This avoids parking safety issues caused by automatic parking when at least one body component is in an open state, thus improving the safety of automatic parking. Meanwhile, this application can set the status of all body components to the off state based on the one-click shutdown command input by the driver, without requiring the driver to operate multiple times to shut down each body component separately, thus simplifying the driver's operation and improving the driver's operating experience.

[0016] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic flowchart of a vehicle parking method provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a vehicle parking device provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the embodiments of this disclosure and the specific features in the embodiments are detailed descriptions of the technical solutions of this application, rather than limitations on the technical solutions of this application. Unless otherwise specified, the embodiments of this application and the technical features in the embodiments can be combined with each other.

[0019] Figure 1 This is a flowchart of a vehicle parking method provided in an embodiment of this application, such as... Figure 1 As shown, the method is performed by a vehicle, and the method includes: Step S101: Receive automatic parking command; Step S102: Based on the automatic parking command, obtain the status of multiple body components in the vehicle, including open or closed states; body components include components that affect the outline of the vehicle body when in the open state and / or components that affect the driver's field of vision when in the automatic parking state. Different car models can have different body outlines; Among various body parts, the status of certain body parts when they are in the open state will affect the body outline during automatic parking. For example, when a body part is in the open state, it will cause the shape of the external outline of the body to change. Among various body parts, some body parts, when in the closed state, affect the driver's vision during automatic parking. For example, when a body part is open, it may obstruct part or all of the driver's vision. Step S103: If at least one of the multiple body parts is in the open state, a prompt indicating that the parking conditions are not met is displayed. Automatic parking will be disabled if any vehicle body component is in the "on" state, and a message indicating that parking conditions are not met will be displayed on the vehicle's infotainment system.

[0020] If all vehicle body components are in the off state, the vehicle will be parked based on the automatic parking command.

[0021] Step S104: Receive the driver's one-click shutdown command based on the prompt; The one-click shutdown command sets all vehicle body components to the off state. Therefore, the driver only needs to enter the shutdown command once to shut down all vehicle body components, eliminating the need for multiple separate operations to shut down each component individually.

[0022] Step S105: Based on the one-click shutdown command and the status of each body component, set the status of all body components to the off state; Step S106: After all vehicle body components are set to the off state, parking is performed based on the automatic parking command.

[0023] After receiving the response message of the one-click shutdown command and determining that the status of all body parts has been set to the off state based on the response message, the vehicle can be parked directly based on the automatic parking command. Alternatively, a prompt can be displayed to the driver indicating that all body components are off. Based on this prompt, the driver can then input the automatic parking command again on the vehicle's infotainment system. The vehicle, based on this newly input automatic parking command, returns to the operation of obtaining the status of multiple body components based on the automatic parking command and continues to execute until all body components are in the off state. Then, the vehicle is controlled to park based on the automatic parking command to check whether all body components have been successfully closed, and parking is performed after successful closure.

[0024] As can be seen, in this application, since the opening of components affecting the vehicle's outline during automatic parking may cause vehicle scraping when following the planned path, and the opening of components affecting the driver's visibility during automatic parking may obstruct the driver's view when parking is taken over by the driver, both of these pose parking safety issues. Therefore, this application, upon receiving an automatic parking command, obtains the status of multiple vehicle body components based on the command. If at least one of these components is in an open state, automatic parking will not proceed immediately; instead, a prompt indicating that parking conditions are not met will be displayed. Then, a one-click deactivation command input by the driver based on the prompt will be received. Based on the one-click deactivation command and the status of each component, all components will be set to the closed state before parking. This avoids parking safety issues caused by automatic parking when at least one component is open, thus improving the safety of automatic parking. Furthermore, this application can set all components to the closed state based on the driver's one-click deactivation command, eliminating the need for the driver to manually deactivate each component individually, simplifying driver operation and improving the driver's experience.

[0025] In one embodiment, setting the state of all body components to the off state based on the one-click shutdown command and the state of each body component includes: for each body component, based on the one-click shutdown command, detecting whether the current state of the body component is off; if it is not off, sending a shutdown control command to the current body component, the shutdown control command being used to control the current body component to shut down.

[0026] In this embodiment, for each body component, it is detected whether the current body component is in a closed state. If the current body component is in a closed state, no operation is performed on the current body component. If the current body component is not in a closed state, a closing control command is generated and sent to the current body component to control the current body component to close.

[0027] In one embodiment, after obtaining the status of multiple body components in the vehicle based on the automatic parking command, the method further includes: if at least one body component among the multiple body components is in an open state, then each body component among the at least one body component is marked as a target body component; correspondingly, setting the status of all body components to a closed state based on the one-click shutdown command and the status of each body component includes: setting the status of the marked target body components to a closed state based on the one-click shutdown command.

[0028] If at least one of the vehicle body components is detected to be in an open state, in addition to displaying a message indicating that parking conditions are not met, each of those at least one component will be marked as a target component. Subsequently, a one-click shutdown command can be used to set the marked target components to an closed state. This eliminates the need to check the status of each individual component individually; instead, by selectively setting the target components to a closed state based on their markings, all vehicle body components can be guaranteed to be in a closed state.

[0029] As can be seen, existing solutions, when detecting an open body component, require the user to locate the corresponding body component's operation button based on the prompts on the vehicle's infotainment interface if they wish to activate automatic parking. For example, for each body component, the process is: locate the component button - click to close - wait for it to close, which is cumbersome. This application, however, can close all body components affecting automatic parking with a single click, simplifying the operation and improving the efficiency of closing body components.

[0030] In one embodiment, the components affecting the vehicle body outline during automatic parking include at least one of the following: door components, rearview mirrors, trunk, and charging interface components; the charging interface components include charging interface components and / or refueling interface components; the components affecting the driver's visibility during automatic parking include: the hood.

[0031] The door components include at least one of the following: the left front door component, the right front door component, the left rear door component, and the right rear door component.

[0032] Rearview mirrors include at least one of the left-side rearview mirror and the right-side rearview mirror.

[0033] When the hood is open, it may affect the driver's visibility. Automatic parking technology requires the driver to observe the surrounding environment in real time in order to take over. Therefore, the proposed solution should not allow automatic parking to be activated when the hood is open, so as to avoid parking safety problems caused by the loss of visibility after the driver takes over.

[0034] When the charging port component and / or refueling port component are turned on, they will affect the outer edge contour of the vehicle when parking. The parking path planned by the existing algorithm will not take into account the contour swept by the turned-on charging port component or refueling port component. Therefore, turning on the charging port component and / or refueling port component for automatic parking will greatly increase the risk of scratches. Automatic parking is not allowed to be activated under these circumstances.

[0035] In summary, the vehicle of this application includes: body component sensors installed at various body parts, such as sensors installed at the doors, hood, rearview mirrors, trunk, charging port, and fuel filler, for detecting the status of body components; The vehicle also includes: electronic actuators in the body components for electronically controlling opening and closing; The vehicle also includes: a status collector, used to collect the status of body parts; The vehicle also includes a status controller, which is used to determine whether all body components are in an off state, and to send control signals to the body components; The vehicle also includes a vehicle-mounted interface for displaying status alerts and receiving commands or signals input by the driver.

[0036] The status signals corresponding to the status of each body component are as follows, using bool data type, where a value of 0 indicates off and a value of 1 indicates on; The status signal for the front left door is: door_front_left; The status signal for the right front door is: door_front_right; The status signal for the left rear door is: door_rear_left; The status signal for the right rear door is: door_rear_right; The trunk's status signal is rear_trunk; The status signal for the rearview mirror is: rear_view_fold_sts; Status signals of the refueling interface component: fuel_cap_sts; Status signals of the charging interface component: charge_cap_sts; The body components can be opened or closed via electronic actuators within them: The control signals for each body component are as follows, using the uint8 data type. A value of 0 indicates no request: noreq; a value of 1 indicates a request to enable: reqon; and a value of 2 indicates a request to disable: reqoff. Control signal for the front left door: control_door_front_left; Control signal for the right front door: control_door_front_right; Control signal for the left rear door: control_door_rear_left; The control signal for the right rear door is: control_door_rear_right; The control signal for the trunk is: control_rear_trunk; The control signal for the rearview mirror is: control_rear_view_fold_sts; Control signals for the refueling interface component: control_fuel_cap_sts; Control signals for the charging interface component: control_charge_cap_sts; The corresponding code for implementing the parking method of the vehicle in this application is as follows: / / Vehicle signal detection and human machine interface (HMI) control logic void handle_body_signals(){ / / Step 1: Set hmi_body_warning (hmi_body_warning is set to 1 when the status signal of any body component is 1, otherwise it is set to 0) if (door_front_left==1||door_front_right==1||door_rear_left==1|| door_rear_right==1||rear_trunk==1||rear_view_fold_sts==1|| fuel_cap_sts==1||charge_cap_sts==1){ hmi_body_warning=1; / / Warning that the activation condition is not met. }else{ hmi_body_warning=0; / / Reminds you that parking is ready. } / / Step 2: When hmi_body_control is 1, set the corresponding control signal. if (hmi_body_control == 1) { / / Front left door control_door_front_left=(door_front_left!=0)?2:0; / / Right front door control_door_front_right = (door_front_right!=0)?2:0; / / Left rear door control_door_rear_left=(door_rear_left!=0)?2:0; / / Right rear door control_door_rear_right=(door_rear_right!=0)?2:0; / / Trunk control_rear_trunk=(rear_trunk!=0)?2:0; / / rearview mirror control_rear_view_fold_sts=(rear_view_fold_sts!=0)?2:0; / / Fuel filler control_fuel_cap_sts=(fuel_cap_sts!=0)?2:0; / / Charging port control_charge_cap_sts=(charge_cap_sts!=0)?2:0; } }

[0037] Wherein, "||" represents OR logic; control_door_front_left=(door_front_left!=0)?2:0: This means that if the value of the control signal for the left front door is not equal to 0, then the control signal for the left front door is assigned the value 2; otherwise, the control signal for the left front door is assigned the value 0. (The meanings of similar codes later are similar, but they are applied to different body parts, so they will not be elaborated further.) When the vehicle's infotainment system receives hmi_body_warning=1 from the status controller, it indicates that the vehicle body detection does not meet the conditions for automatic parking. The screen displays the text message: Automatic parking conditions not met, and also prompts: One-click to shut down vehicle body components. After the driver clicks the "One-click to shut down vehicle body components" button, the vehicle's infotainment system sends hmi_body_control==1 to the status controller.

[0038] In one scenario of this application, based on the relative position of the parking area and the vehicle, it is determined whether the driver needs to rely on the view through the hood after taking over parking. If the reliance is low, a certain degree of hood opening can be tolerated. Specifically: In one embodiment, if only one of the at least one body component exists, and that component is the hood, a message indicating that parking conditions are not met is displayed. This includes: determining the relative position of the parking area and the vehicle; determining the permissible opening range of the hood based on the relative position; and displaying a message indicating that parking conditions are not met if the opening range of the hood is greater than the permissible opening range. If the opening range of the hood is not greater than the permissible opening range, parking is performed based on the automatic parking command.

[0039] The location of the parking area and the vehicle's current pose are identified using sensors (such as cameras, ultrasonic radar, and / or lidar installed on the vehicle). Based on the location of the parking area and the vehicle's current pose, the relative position between the parking area and the vehicle is generated. The parking area refers to the area where the vehicle is preparing to park.

[0040] Based on the relative position, a parking planning path and an estimated vehicle pose change are generated. Based on the parking planning path and the vehicle pose change, it is determined at what extent the hood opening will not collide with surrounding obstacles (e.g., walls, pillars, and / or adjacent vehicles), and this extent is then taken as the allowable opening extent.

[0041] If the opening of the hood exceeds the permitted opening range, a message indicating that the parking conditions are not met will be displayed. The message may be "The hood is not closed. Please close the hood before parking."

[0042] For example, based on the relative position of the vehicle and the parking area, the current parking type is determined to be perpendicular parking. Perpendicular parking refers to the vehicle being perpendicular to the parking area. Perpendicular parking mainly prevents rear collisions and side scrapes. It has less dependence on forward visibility and allows the hood to be slightly open, for example, the opening range can be set to the first range. For example, based on the relative position of the vehicle and the parking area, the current parking type is determined to be parallel parking. Parallel parking means that the vehicle and the parking area are relatively horizontal. Parallel parking needs to prevent front and rear collisions and does not allow the hood to be opened, or allows the hood to be slightly opened, for example, the allowed opening range is set to the second range; the second range is smaller than the first range.

[0043] It should be noted that if the area of ​​the parking area is smaller than the preset area, the hood may hit an obstacle even if it is opened slightly. Therefore, the "permitted opening range" should be set to 0 or close to 0.

[0044] As can be seen, this application only prohibits parking and displays a prompt indicating that parking conditions are not met when the opening range of the hood exceeds the permissible range. When the opening range of the hood does not exceed the permissible range, the hood can remain open and parking can proceed based on the automatic parking command. In some scenarios, such as when the driver needs to open the hood to retrieve items after parking, this application's solution avoids the need to close the hood while parking and then reopen it after parking, simplifying driver operation and improving the driver's experience.

[0045] In some common parking scenarios, there is often a need to park in a charging or refueling area and then immediately refuel or charge after parking. For these scenarios, if the refueling or charging port is closed when parking and then reopened after parking, it would obviously cause inconvenience to the driver. For this scenario, this application proposes the following solution: In one embodiment, if at least one of the multiple body components is in an open state, displaying a prompt indicating that parking conditions are not met includes: If at least one of the multiple body parts is in an open state, then it is determined whether the first preset condition is met; the first preset condition is that each of the at least one body part is a power replenishment interface part, and there is an energy replenishment device around the parking area. If the first preset condition is not met, a prompt indicating that the parking condition is not met will be displayed; If the first preset condition is met, then based on the automatic parking command, the device position of the energy replenishment device, the component position and shape of the energy replenishment interface component on the vehicle are determined; Based on the location of the component and the location of the device, a parking planning path is generated; The vehicle is automatically parked according to the parking planning path.

[0046] If at least one of the multiple vehicle body components is in an open state, and if each of the at least one vehicle body component is a charging interface component, then it is further determined whether there is an energy replenishment device around the parking area. Specifically, if the charging interface component is a charging port component, then the energy replenishment device is a charging station; if the charging interface component is a refueling port component, then the energy replenishment device is a refueling device. Automatic parking is prohibited if at least one body component is not a rechargeable interface component, or if there is no energy recharge device around the parking area, and a message indicating that parking conditions are not met is displayed.

[0047] If at least one body component is a power replenishment interface component, and there is a power replenishment device around the parking area, then automatic parking is allowed. The automatic parking method is as follows: based on the automatic parking command, the device location of the power replenishment device, the component location and shape of the power replenishment interface component on the vehicle are determined. The device location of the power replenishment device refers to the location of the power replenishment device in the map coordinate system. Based on the component location, shape, device location, and surrounding obstacles, a parking planning path is generated.

[0048] The parking path generated at this time takes into account the outline swept by the charging interface component when it is turned on. It needs to ensure that the charging interface component will not scrape against surrounding obstacles when it is turned on. In addition, the generated parking path takes into account the position of the charging interface component on the map coordinate system after parking and matches the position of the energy replenishment device to facilitate charging or refueling.

[0049] The position of the recharge interface component on the map coordinate system is determined based on the component position of the recharge interface component on the vehicle and the position of the vehicle on the map coordinate system.

[0050] Following the parking planning path, the vehicle is automatically parked, which not only avoids collisions with surrounding obstacles, but also ensures that the position of the refueling interface component on the map coordinate system matches the position of the energy replenishment device after parking, without affecting normal charging or refueling. At the same time, there is no need to turn off the refueling interface component, avoiding the problem of turning off the refueling or charging interface when parking and then turning it back on after parking, which would cause cumbersome operation for the driver.

[0051] In some common parking scenarios, primarily those where the parking area is on the left or right side of the vehicle, if the body parts and the parking area are located on opposite sides of the vehicle, opening the body parts will not significantly affect parking, or will have only a minor impact. Therefore, parking can proceed normally even with these body parts open. Specifically: In one embodiment, displaying a prompt indicating that parking conditions are not met if at least one of the multiple body components is in an open state includes: if at least one of the multiple body components is in an open state, determining whether a second preset condition is met; the second preset condition is that the at least one body component and the parking area are on different sides of the vehicle, the body component is located on the left or right side of the vehicle, and the parking area includes the left or right side area of ​​the vehicle; if the second preset condition is not met, displaying a prompt indicating that parking conditions are not met; if the second preset condition is met, parking is performed based on the automatic parking command.

[0052] In this scenario, at least one vehicle body component that is in the "on" state specifically refers to at least one of the following: rearview mirror, fuel filler port component, and charging port component. At least one body component and the parking area are on different sides of the vehicle, including: each of the at least one body component is on a different side of the vehicle from the parking area, for example, each of the at least one body component is on the left side of the vehicle and the parking area is on the right side of the vehicle; or, for example, each of the at least one body component is on the right side of the vehicle and the parking area is on the left side of the vehicle.

[0053] If at least one body component and the parking area are on different sides of the vehicle, then opening the body components of at least one body component will not affect parking, and parking will be performed based on the automatic parking command.

[0054] If any one of the at least one body parts is on the same side of the vehicle as the parking area, a message indicating that the parking conditions are not met will be displayed.

[0055] Therefore, in this application, if at least one body component is on a different side of the vehicle from the parking area, it is not necessary to close the body component. Parking can still be performed based on the automatic parking command, and body components that affect parking can be accurately closed.

[0056] Based on the same concept, embodiments of the present invention also provide a vehicle parking device. Figure 2 This is a structural block diagram of a vehicle parking device provided in an embodiment of this application, such as... Figure 2 As shown, the device 200 includes: The first receiving module 201 is used to receive automatic parking commands; The acquisition module 202 is used to acquire the status of multiple body components in the vehicle based on the automatic parking command. The status includes an open state or a closed state. The body components include components that affect the outline of the vehicle body when in the open state and / or components that affect the driver's field of vision when in the automatic parking state. The display module 203 is used to display a prompt that the parking conditions are not met if at least one of the multiple body parts is in the open state. The second receiving module 204 is used to receive a one-key shutdown command input by the driver based on the prompt; Setting module 205 is used to set the status of all body components to the off state based on the one-click shutdown command and the status of each body component. The parking module 206 is used to park the vehicle based on the automatic parking command after all body components are set to the off state.

[0057] In one embodiment, the setting module 205 is specifically used for: For each body component, based on the one-click shutdown command, it is detected whether the current body component is in a closed state; If it is not in the off state, a shutdown control command is sent to the current body component, which is used to control the current body component to shut down.

[0058] In one embodiment, the device further includes a marking module, which, after obtaining the state of multiple body parts in the vehicle based on the automatic parking command, marks each of the at least one body part as a target body part if at least one of the multiple body parts is in an open state. Accordingly, module 205 is specifically used for: Based on the one-click shutdown command, the status of the marked target vehicle body component is set to the off state.

[0059] In one embodiment, the components affecting the vehicle body profile during automatic parking include at least one of the following: door components, rearview mirrors, trunk, and a power replenishment interface component; the power replenishment interface component includes a charging interface component and / or a refueling interface component; The components that affect the driver's visibility during automatic parking include: the hood.

[0060] In one embodiment, if only one of the at least one body component exists, and it is a hood, the display module 203 is specifically used for: Determine the relative position of the parking area and the vehicle; Based on the relative position, the permissible opening range of the front hatch is determined; If the opening range of the hood exceeds the allowable opening range, a message indicating that the parking conditions are not met will be displayed.

[0061] If the opening range of the hood is not greater than the allowable opening range, parking will be performed based on the automatic parking command.

[0062] In one embodiment, if at least one of the multiple body parts is in an open state, then the display module 203 is specifically used for: If at least one of the multiple body parts is in an open state, then it is determined whether the first preset condition is met; the first preset condition is that each of the at least one body part is a power replenishment interface part, and there is an energy replenishment device around the parking area. If the first preset condition is not met, a prompt indicating that the parking condition is not met will be displayed; If the first preset condition is met, then based on the automatic parking command, the device position of the energy replenishment device, the component position and shape of the energy replenishment interface component on the vehicle are determined; Based on the location and shape of the component and the location of the device, a parking planning path is generated; The vehicle is automatically parked according to the parking planning path.

[0063] In one embodiment, if at least one of the multiple body components is in an open state, then the display module 203 is specifically used for: If at least one of the multiple body parts is in an open state, it is determined whether the second preset condition is met; the second preset condition is that the at least one body part and the parking area are on different sides of the vehicle, the body part is located on the left or right side of the vehicle, and the parking area includes the left or right side of the vehicle. If the second preset condition is not met, a message indicating that the parking conditions are not met will be displayed. If the second preset condition is met, parking is performed based on the automatic parking command.

[0064] It is understood that the device provided in the above embodiments is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0065] Reference Figure 3 The present invention also provides an electronic device, which may include a processor 302 and a memory 301, wherein the processor 302 and the memory 301 can communicate with each other via a bus or other means.

[0066] The processor 302 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application, or it may be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or other chips, or combinations of the above types of chips.

[0067] Memory 301 may include mass storage for data or instructions. For example, and not limitingly, memory may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory may include removable or non-removable (or fixed) media. Where appropriate, memory may be internal or external to an electronic device. In a particular embodiment, memory may be non-volatile solid-state memory.

[0068] In one instance, memory 301 may be read-only memory (ROM). In one instance, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0069] The processor 302 implements any of the vehicle parking methods described in the above embodiments by reading and executing computer program instructions stored in the memory.

[0070] In one example, the electronic device may further include a communication interface and a bus. The processor, memory, and communication interface are connected via the bus to communicate with each other. The communication interface is primarily used to enable communication between the various modules, devices, units, and / or equipment in the embodiments of this application. Where appropriate, the bus may include one or more buses.

[0071] Furthermore, in conjunction with the vehicle parking methods in the above embodiments, this invention can be implemented using a computer-readable storage medium. This computer-readable storage medium stores computer program instructions; when executed by a processor, these computer program instructions implement any of the vehicle parking methods described in the above embodiments.

[0072] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The storage medium can be read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0073] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0074] Similarly, it should be understood that, in order to simplify this disclosure and aid in understanding one or more of the various aspects of the invention, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, this method of disclosure should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into this detailed description, wherein each claim itself is a separate embodiment of the invention.

[0075] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

Claims

1. A method for parking a vehicle, characterized in that, The method includes: Receive automatic parking commands; The automatic parking command is used to obtain the status of multiple body components in the vehicle, including an open state or a closed state; the body components include components that affect the outline of the vehicle body when in the open state and / or components that affect the driver's field of vision when in the automatic parking state. If at least one of the multiple body parts is in the open state, a message indicating that the parking conditions are not met will be displayed. Receive a one-click shutdown command input by the driver based on the prompt; Based on the one-click shutdown command and the status of each body component, the status of all body components is set to the off state; After all vehicle body components are set to the off state, parking is performed based on the automatic parking command.

2. The method according to claim 1, characterized in that, Based on the one-click shutdown command and the status of each body component, setting the status of all body components to the off state includes: For each body component, based on the one-click shutdown command, it is detected whether the current body component is in a closed state; If it is not in the off state, a shutdown control command is sent to the current body component, which is used to control the current body component to shut down.

3. The method according to claim 1, characterized in that, After obtaining the status of multiple body components in the vehicle based on the automatic parking command, the method further includes: If at least one of the multiple body parts is in the open state, then each of the at least one body part is marked as the target body part. Accordingly, based on the one-click shutdown command and the status of each body component, setting the status of all body components to the off state includes: Based on the one-click shutdown command, the status of the marked target vehicle body component is set to the off state.

4. The method according to any one of claims 1 to 3, characterized in that, The components that affect the vehicle body outline during automatic parking include at least one of the following: door components, rearview mirrors, trunk, and charging interface components; the charging interface components include charging interface components and / or refueling interface components; The components that affect the driver's visibility during automatic parking include: the hood.

5. The method according to claim 4, characterized in that, If only one of the at least one body component exists, and it is the hood, the display of the message indicating that the parking conditions are not met includes: Determine the relative position of the parking area and the vehicle; Based on the relative position, the permissible opening range of the front hatch is determined; If the opening range of the hood exceeds the allowable opening range, a message indicating that the parking conditions are not met will be displayed. If the opening range of the hood is not greater than the allowable opening range, parking will be performed based on the automatic parking command.

6. The method according to claim 4, characterized in that, If at least one of the multiple body components is in an open state, a prompt indicating that parking conditions are not met will be displayed, including: If at least one of the multiple body parts is in an open state, then it is determined whether the first preset condition is met; the first preset condition is that each of the at least one body part is a power replenishment interface part, and there is an energy replenishment device around the parking area. If the first preset condition is not met, a prompt indicating that the parking condition is not met will be displayed; If the first preset condition is met, then based on the automatic parking command, the device position of the energy replenishment device, the component position and shape of the energy replenishment interface component on the vehicle are determined; Based on the location and shape of the component and the location of the device, a parking planning path is generated; The vehicle is automatically parked according to the parking planning path.

7. The method according to any one of claims 1 to 3, characterized in that, If at least one of the multiple body components is in an open state, the message indicating that the parking conditions are not met includes: If at least one of the multiple body parts is in an open state, it is determined whether the second preset condition is met; the second preset condition is that the at least one body part and the parking area are on different sides of the vehicle, the body part is located on the left or right side of the vehicle, and the parking area includes the left or right side of the vehicle. If the second preset condition is not met, a message indicating that the parking conditions are not met will be displayed. If the second preset condition is met, parking is performed based on the automatic parking command.

8. A parking device for a vehicle, characterized in that, The device includes: The first receiving module is used to receive automatic parking commands; The acquisition module is used to acquire the status of multiple body components in the vehicle based on the automatic parking command. The status includes an open state or a closed state. The body components include components that affect the outline of the vehicle body when in the open state and / or components that affect the driver's field of vision when in the automatic parking state. The display module is used to display a prompt that the parking conditions are not met if at least one of the multiple body parts is in the open state. The second receiving module is used to receive a one-click shutdown command input by the driver based on the prompt; The setting module is used to set the status of all body components to the off state based on the one-click shutdown command and the status of each body component; The parking module is used to park the vehicle based on the automatic parking command after all body components are set to the off state.

9. An electronic device, characterized in that, include: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the method of any one of claims 1-7.

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