Control method, parking area generation method, and related devices

Abstract

A control method, a parking area generation method, and related apparatus are disclosed, applied in the field of intelligent technology. The control method includes: acquiring first information, including information about a first area, where the first area does not contain standard parking spaces; and obtaining a first planned trajectory based on the first information, which guides a first terminal to park in the first area. In this method, when the first terminal approaches the first area, the information of the first area can be used for trajectory planning to obtain the first planned trajectory, enabling the first terminal to park in the first area according to the first planned trajectory. This solves the problem of parking failure due to the lack of standard parking spaces during intelligent driving, improving the user's intelligent driving experience.

Description

Technical Field

[0001] This application relates to the field of intelligent technology, and in particular to a control method, a parking area generation method, and related apparatus. Background Technology

[0002] Embodied intelligence refers to intelligent agents with physical carriers, such as intelligent vehicles and robots. Embodied intelligent terminals can continuously interact with the physical environment through a closed loop of "perception, decision-making, action, and feedback," autonomously learning, adapting, and completing complex physical tasks in an open world.

[0003] In practical applications of embodied intelligence, if an embodied intelligent terminal encounters an empty area with no standard parking space but is actually available for parking during intelligent driving, it may fail to recognize a standard parking space that can be used, resulting in parking failure and thus exiting intelligent driving, affecting the user's intelligent driving experience. Summary of the Invention

[0004] This application provides a control method, a parking area generation method, and related devices, which can solve the problem of parking failure caused by the lack of standard parking spaces during intelligent driving of smart terminals, and improve the user's intelligent driving experience.

[0005] In a first aspect, embodiments of this application provide a control method applied to a control device. It is understood that the method can be executed by the control device, which can be a device, a chip (system) or circuit for the device, and this application does not limit it.

[0006] The control method includes: acquiring first information, which includes information about a first area, the first area not containing standard berths; and obtaining a first planned trajectory based on the first information, the first planned trajectory being used to guide a first terminal to berth in the first area.

[0007] In this embodiment, the first area does not contain standard parking spaces. This can be understood as an empty area where parking is possible even though standard parking spaces are not available. This may lead to a situation where the first terminal cannot identify a standard parking space within the first area, resulting in parking failure. Through this embodiment, when the first terminal approaches the first area, it can call upon the information of the first area to perform trajectory planning, obtaining a first planned trajectory. This allows the first terminal to park in the first area according to the first planned trajectory, thereby solving the problem of parking failure due to the lack of standard parking spaces during intelligent driving and improving the user's intelligent driving experience.

[0008] Optionally, the first area can be the area of ​​the first terminal's frequently used parking spots. When the first terminal approaches a frequently used parking spot, it can call upon non-standard parking spaces near the frequently used parking spot for trajectory planning, so that the first terminal can park in a non-standard parking space near the frequently used parking spot according to the planned trajectory. Through the embodiments of this application, not only can the problem of the first terminal failing to park due to the lack of standard parking spaces during intelligent driving be solved, but the parking position of the first terminal can also conform to the user's habit of frequently used parking spots, thereby improving the user's intelligent driving experience.

[0009] In one possible implementation, the aforementioned standard berth includes any one or more of the following: a berth with berth lines, a spatial berth around a reference terminal, and a mechanical berth.

[0010] In this embodiment, the space around the reference terminal can be understood as using an already parked terminal as a reference terminal, and creating available parking spaces around that reference terminal. For example, a available parking space could be created between a reference terminal outside the park and a roadside curb; another example is a available parking space created between two reference terminals within the park; yet another example is a available parking space created in an empty area around a reference terminal within the park. It is understood that any empty area that does not conform to the standard parking space in this embodiment can be considered as part of the first area.

[0011] In one possible implementation, the aforementioned first information is obtained based on the historical parking information of the first terminal.

[0012] In this embodiment, the information of the first area can be obtained based on the historical parking information of the first terminal, so that the first area can be the area of ​​the first terminal's frequently used parking spots, which is more in line with the historical parking habits of the first terminal's users and improves the user's intelligent driving experience.

[0013] Optionally, when the first area is a frequently used parking area for the first terminal, non-standard parking spaces can be generated at the frequently used parking areas based on the historical parking information of the first terminal, so that the first terminal can park in non-standard parking spaces at the frequently used parking areas, thereby improving the user's intelligent driving experience.

[0014] In one possible implementation, the historical parking information of the first terminal includes any one or more of the following: historical parking location information of the first terminal, historical parking trajectory information of the first terminal, and historical parking environment information of the first terminal.

[0015] In one possible implementation, the first planned trajectory, derived based on the first information, can be achieved through methods including but not limited to: adjusting the parking posture of the first area based on the environmental information of the first terminal. The first planned trajectory is then derived based on the environmental information of the first terminal and the adjusted parking posture of the first area, and is used to guide the first terminal to park in the adjusted first area.

[0016] In this embodiment, when calling the information of the first area for trajectory planning, obstacle detection can be performed based on the environmental information of the first terminal, and then the parking posture of the first area can be dynamically fine-tuned based on the obstacle detection results to ensure that the non-standard berths in the first area can be released, thereby improving the success rate of the first terminal parking in the first area.

[0017] In one possible implementation, the first information is obtained based on the historical parking information of the second terminal, and the user information corresponding to the historical parking information of the second terminal is the same as the user information logged in on the first terminal.

[0018] In this embodiment, the information of the first area can be obtained based on the historical parking information of other terminals (such as a second terminal). However, it is required that the user information corresponding to the historical parking information of the second terminal is the same as the user information logged in on the first terminal. This ensures that the generated information of the first area is associated with and synchronized with the user, guaranteeing that the user's parking preferences can "follow the user" across different terminals, rather than being "bound to a specific terminal." Through this embodiment, it is possible to ensure that the location of the first area is more in line with the user's historical parking habits, and to achieve seamless integration of the user's personalized parking experience across terminals, thereby improving the user's intelligent driving experience.

[0019] In one possible implementation, the historical parking information of the second terminal includes any one or more of the following: historical parking location information of the second terminal, historical parking trajectory information of the second terminal, and historical parking environment information of the second terminal.

[0020] In one possible implementation, the first planned trajectory, derived based on the first information, can be achieved through methods including but not limited to: adjusting the parking posture of the first area based on the difference information between the second terminal and the first terminal, and / or the environmental information of the first terminal. The first planned trajectory is then derived based on the environmental information of the first terminal and the adjusted parking posture of the first area, and is used to guide the first terminal to park in the adjusted first area.

[0021] In this embodiment, when the information of the first area generated based on the historical parking information of the second terminal is used to follow the user from the second terminal to the first terminal, when calling the information of the first area for trajectory planning, the parking posture of the first area can be dynamically fine-tuned according to the difference information between the second terminal and the first terminal, and / or, obstacle detection can be performed according to the environmental information of the first terminal, and then the parking posture of the first area can be dynamically fine-tuned according to the obstacle detection results to ensure that non-standard berths in the first area can be released, thereby improving the success rate of the first terminal parking in the first area.

[0022] Optionally, the differences between the second terminal and the first terminal may specifically include, but are not limited to, differences in terminal size and differences in terminal mobility, or one or more of these. Differences in terminal size may require dynamic fine-tuning of the position and size of the first region, and differences in terminal mobility may require dynamic fine-tuning of the position and orientation of the first region.

[0023] In one possible implementation, the above control method may also include, but is not limited to, the following steps: controlling the first terminal to travel along a first planned trajectory to park in the first area.

[0024] In one possible implementation, the above control method may also include, but is not limited to, the following steps: controlling the display of any one or more of the following information: information of a first area, information of a first planned trajectory.

[0025] In this embodiment, the first terminal can also be controlled to call the information of the first area to perform trajectory planning and park in the relevant information of the first area. For example, the information of the first area and the information of the first planned trajectory can be highlighted by means including but not limited to rendering and highlighting, which can improve the user's perception of actively calling and parking in non-standard parking spaces of commonly used parking points during intelligent driving, thereby improving the user's intelligent driving experience.

[0026] In one possible implementation, the first information comes from the first terminal, or the first information comes from the cloud.

[0027] In this embodiment, the first region in the first information can be generated by the first terminal or by the cloud.

[0028] In one possible implementation, the above control method may also include, but is not limited to, the following steps: reporting to the cloud relevant information about the first terminal entering the first area based on the first planned trajectory.

[0029] In this embodiment, the first terminal can plan the parking trajectory. After the first terminal parks in the first area, it reports relevant information about this parking in the first area to the cloud, such as information about the first area, information about the first planned trajectory, and environmental information during the parking process. Furthermore, the cloud can remember this parking behavior and adjust and optimize the position and orientation of the first area so that the adjusted and optimized first area better matches the parking habits of the user of the first terminal, thereby improving the user's intelligent driving experience.

[0030] In one possible implementation, the control method described above may also include, but is not limited to, the following steps: sending information about a first planned trajectory to a first terminal.

[0031] In this embodiment, the parking trajectory can be planned by the cloud. After obtaining the first planned trajectory, the information of the first planned trajectory is sent to the first terminal so that the first terminal can park in the first area according to the first planned trajectory.

[0032] Secondly, embodiments of this application provide a method for generating a parking area. This method is applied to a parking area generating device. It is understood that the method can be executed by the parking area generating device, which can be a device or a chip (system) or circuit used in the device. This application does not limit this.

[0033] The method for generating a berthing area includes: acquiring second information, which includes historical berthing information of a first terminal, and / or historical berthing information of a second terminal; and generating a first area based on the second information, wherein the first area does not contain standard berths and is used for berthing by the first terminal.

[0034] In this embodiment, the first area does not contain standard parking spaces. It can be understood as an empty area where parking is possible even though standard parking spaces are not available. This may lead to the first terminal failing to identify a standard parking space within the first area, resulting in parking failure. This embodiment addresses this by generating the first area based on historical parking information. When the first terminal approaches the first area, it can actively call upon the first area for trajectory planning to park there. This solves the problem of parking failure due to the lack of standard parking spaces during intelligent driving, improving the user's intelligent driving experience. Furthermore, the first area generated based on historical parking information can be an area of ​​the user's frequently used parking spots, ensuring that the parking location of the first terminal matches the user's usual parking habits, further enhancing the user's intelligent driving experience.

[0035] When the first area is obtained based on the historical parking information of the first terminal, this first area can be the area of ​​frequently used parking spots of the first terminal, which is more in line with the historical parking habits of the users of the first terminal and improves the user's intelligent driving experience. When the first area is obtained based on the historical parking information of the second terminal, this first area can be the area of ​​frequently used parking spots of the second terminal. When the first area is moved from the second terminal to the first terminal with the user, it is more in line with the historical parking habits of the users of the first terminal and improves the user's intelligent driving experience.

[0036] In one possible implementation, the aforementioned standard berth includes any one or more of the following: a berth with berth lines, a spatial berth around a reference terminal, and a mechanical berth.

[0037] In this embodiment, the space around the reference terminal can be understood as using an already parked terminal as a reference terminal, and creating available parking spaces around that reference terminal. For example, a available parking space could be created between a reference terminal outside the park and a roadside curb; another example is a available parking space created between two reference terminals within the park; yet another example is a available parking space created in an empty area around a reference terminal within the park. It is understood that any empty area that does not conform to the standard parking space in this embodiment can be considered as part of the first area.

[0038] In one possible implementation, the user information corresponding to the historical parking information of the second terminal is the same as the user information logged in on the first terminal.

[0039] In this embodiment, the information of the first area can be obtained based on the historical parking information of other terminals (such as a second terminal). However, it is required that the user information corresponding to the historical parking information of the second terminal is the same as the user information logged in on the first terminal. This ensures that the generated information of the first area is associated with and synchronized with the user, guaranteeing that the user's parking preferences can "follow the user" across different terminals, rather than being "bound to a specific terminal." Through this embodiment, it is possible to ensure that the location of the first area is more in line with the user's historical parking habits, and to achieve seamless integration of the user's personalized parking experience across terminals, thereby improving the user's intelligent driving experience.

[0040] In one possible implementation, the historical parking information of the first terminal includes any one or more of the following: historical parking location information of the first terminal, historical parking trajectory information of the first terminal, and historical parking environment information of the first terminal.

[0041] In one possible implementation, the historical parking information of the second terminal includes any one or more of the following: historical parking location information of the second terminal, historical parking trajectory information of the second terminal, and historical parking environment information of the second terminal.

[0042] In one possible implementation, the above-described method for generating a parking area may further include, but is not limited to, the following steps: receiving a first instruction, the first instruction being used to instruct adjustment of the parking pose of a first area; and adjusting the parking pose of the first area based on the first instruction.

[0043] In this embodiment, the parking posture of the generated first area can be adjusted in response to user commands, and the user can perform operations such as adding, deleting, modifying and querying the first area to meet the user's parking expectations, thereby improving the user's intelligent driving experience.

[0044] Thirdly, embodiments of this application provide a control device that includes units for performing the method as described in any of the first aspects.

[0045] In one possible design, the device includes: The processing unit is used to acquire first information, which includes information about a first area, which does not include standard berths.

[0046] The processing unit is also used to obtain a first planned trajectory based on the first information, and the first planned trajectory is used to guide the first terminal to dock in the first area.

[0047] In one possible implementation, the device further includes a communication unit.

[0048] The processing unit is specifically used to obtain the first information through the communication unit.

[0049] Regarding the processing unit and communication unit described in the third aspect and any possible implementation, the steps performed thereon can be referred to the corresponding implementations in the first aspect.

[0050] For the technical effects of the third aspect and any possible implementation, please refer to the description of the technical effects corresponding to the first aspect and the corresponding implementation.

[0051] Optionally, in the control device described in the third aspect above and any possible implementation: In one implementation, the control device is a control equipment. When the control device is a control equipment, the communication unit can be a transceiver or an input / output interface; the processing unit can be at least one processor. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0052] In another implementation, the control device is a chip (system) or circuit used to control the device. When the control device is a chip (system) or circuit used to control the device, the communication unit can be a communication interface (input / output interface), interface circuit, output circuit, input circuit, pin, or related circuit on the chip (system) or circuit; the processing unit can be at least one processor, processing circuit, or logic circuit.

[0053] Fourthly, embodiments of this application provide a parking area generation apparatus, which includes a unit for performing the method as described in any of the second aspects.

[0054] In one possible design, the device includes: The processing unit is used to acquire second information, which includes the historical parking information of the first terminal and / or the historical parking information of the second terminal.

[0055] The processing unit is also used to generate a first area based on the second information. The first area does not contain a standard berth and is used for the first terminal to berth.

[0056] In one possible implementation, the device further includes a communication unit.

[0057] The processing unit is specifically used to obtain the second information through the communication unit.

[0058] Regarding the processing unit and communication unit described in the fourth aspect and any possible implementation, the steps performed thereon can be referred to the corresponding implementation in the second aspect.

[0059] For the technical effects of the fourth aspect and any possible implementation, please refer to the description of the technical effects corresponding to the second aspect and the corresponding implementation.

[0060] Optionally, in the parking area generation apparatus described in the fourth aspect above and any possible implementation: In one implementation, the berthing area generating device is a berthing area generating equipment. When the berthing area generating device is a berthing area generating equipment, the communication unit can be a transceiver or an input / output interface; the processing unit can be at least one processor. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0061] In another implementation, the parking area generation device is a chip (system) or circuit used in a parking area generation device. When the parking area generation device is a chip (system) or circuit used in a parking area generation device, the communication unit can be a communication interface (input / output interface), interface circuit, output circuit, input circuit, pin, or related circuit on the chip (system) or circuit; the processing unit can be at least one processor, processing circuit, or logic circuit.

[0062] Fifthly, embodiments of this application provide a control device including a processor. The processor is coupled to a memory and can be used to execute instructions in the memory to implement the methods described in the first aspect and any of the possible implementations. Optionally, the control device further includes a memory. Optionally, the control device further includes a communication interface, and the processor is coupled to the communication interface.

[0063] Sixthly, embodiments of this application provide a parking area generation apparatus, which includes a processor. The processor is coupled to a memory and can be used to execute instructions in the memory to implement the methods described in the second aspect and any of the possible implementations. Optionally, the parking area generation apparatus further includes a memory. Optionally, the parking area generation apparatus further includes a communication interface, and the processor is coupled to the communication interface.

[0064] In a seventh aspect, embodiments of this application provide a chip, including: logic circuitry and a communication interface. The communication interface is used to receive or transmit information; the logic circuitry is used to receive or transmit information through the communication interface, causing the chip to execute the method of any one of the first to second aspects and any possible implementation thereof.

[0065] Eighthly, embodiments of this application provide a computer-readable storage medium for storing a computer program (also referred to as code or instructions); when the computer program is run on a computer, the method of any one of the first to second aspects and any possible implementation thereof is implemented.

[0066] Ninthly, embodiments of this application provide a computer program product, the computer program product comprising: a computer program (also referred to as code or instructions); and a method, when the computer program is run, causing a computer to perform any one of the first to second aspects and any one of the possible implementations described above.

[0067] In a tenth aspect, embodiments of this application provide a terminal, which includes at least one control device as described in the third aspect, or a parking area generating device as described in the fourth aspect, or a control device as described in the fifth aspect, or a parking area generating device as described in the sixth aspect, or a chip as described in the seventh aspect.

[0068] Optionally, the terminal can be a means of transportation, such as a car, truck, aircraft, drone, slow transport vehicle, spacecraft, or ship, or any other possible means of transportation used in any possible scenario. This application embodiment does not limit this.

[0069] Optionally, the terminal is used to implement the method described in any one of the first to second aspects and any possible implementation.

[0070] Eleventhly, embodiments of this application provide a cloud platform, which includes at least one control device as described in the third aspect, or a parking area generation device as described in the fourth aspect, or a control device as described in the fifth aspect, or a parking area generation device as described in the sixth aspect, or a chip as described in the seventh aspect.

[0071] Optionally, the cloud can be a cloud server or a cloud virtual machine; this application embodiment does not limit this.

[0072] Optionally, the cloud is used to implement the methods described in any of the first to second aspects and any possible implementation methods.

[0073] Furthermore, in the process of performing the methods described in any of the first to second aspects and any possible implementations above, the processes related to sending and / or receiving information in the above methods can be understood as the process of the processor outputting information, and / or the process of the processor receiving input information. When outputting information, the processor can output the information to a transceiver (or communication interface, or transmitting module) so that the transceiver can transmit it. After the information is output by the processor, it may need to undergo other processing before reaching the transceiver. Similarly, when the processor receives input information, the transceiver (or communication interface, or transmitting module) receives the information and inputs it to the processor. Furthermore, after the transceiver receives the information, the information may need to undergo other processing before being input to the processor.

[0074] Based on the above principles, for example, the information sent mentioned in the aforementioned method can be understood as information output by the processor. Similarly, the information received can be understood as information received by the processor from input.

[0075] Optionally, unless otherwise specified, or unless they contradict their actual function or internal logic in the relevant description, the operations of the processor, such as transmitting, sending, and receiving, can be more generally understood as processor output and receiving, input, and other operations.

[0076] Optionally, in the process of performing the method described in any of the first to second aspects and any possible implementations above, the processor may be a processor specifically designed to perform these methods, or it may be a processor that performs these methods by executing computer instructions stored in memory, such as a general-purpose processor. The memory may be a non-transitory memory, such as read-only memory (ROM), which may be integrated with the processor on the same chip or disposed on different chips. This application does not limit the type of memory or the arrangement of the memory and processor.

[0077] In one possible implementation, at least one of the aforementioned memories is located outside the device.

[0078] In yet another possible implementation, at least one of the aforementioned memories is located within the device.

[0079] In another possible implementation, a portion of the memory of the at least one memory is located inside the device, while another portion is located outside the device.

[0080] In this application, the processor and memory may also be integrated into a single device, that is, the processor and memory can be integrated together. Attached Figure Description

[0081] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0082] Figure 1 This application provides a schematic diagram of the system architecture of a smart terminal. Figure 2 This application provides a schematic diagram of the architecture of a vehicle-cloud collaborative system. Figure 3 A flowchart illustrating a control method provided in an embodiment of this application; Figure 4 A flowchart illustrating a method for generating a parking area provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a control device provided in an embodiment of this application; Figure 6 A schematic diagram of a parking area generation device provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of a chip provided in an embodiment of this application. Detailed Implementation

[0083] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described below with reference to the accompanying drawings.

[0084] The terms "first" and "second," etc., used in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0085] The term "embodiment" as used herein means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the various embodiments of this application are consistent and can be mutually referenced, and technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0086] It should be understood that in this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0087] It should be noted that, in this application, "instruction" can include direct instruction, indirect instruction, explicit instruction, and implicit instruction. When describing a certain instruction information for the purpose of instructing A, it can be understood that the instruction information carries A, directly instructs A, or indirectly instructs A.

[0088] In this application, the information indicated by the instruction information is called the information to be instructed. In specific implementations, there are many ways to indicate the information to be instructed, such as, but not limited to, directly indicating the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly indicate the information to be instructed by indicating other information, where there is a correlation between the other information and the information to be instructed. It can also indicate only a part of the information to be instructed, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various information, thereby reducing instruction overhead to some extent. The information to be instructed can be sent as a whole or divided into multiple sub-information units, and the sending period and / or timing of these sub-information units can be the same or different. This application does not limit the specific sending method. The sending period and / or timing of these sub-information units can be predefined, for example, according to a protocol, or configured by the transmitting device by sending configuration information to the receiving device.

[0089] It should be noted that in this application, "send" can be understood as "output" and "receive" can be understood as "input". "Send information to A", where "to A" simply indicates the direction of information transmission, and A is the destination, does not limit "send information to A" to a direct transmission over the air interface. "Send information to A" includes sending information directly to A, as well as sending information indirectly to A through a transmitter. Therefore, "send information to A" can also be understood as "outputting information destined for A". Similarly, "receive information from A" indicates that the source of the information is A, including receiving information directly from A, as well as receiving information indirectly from A through a receiver. Therefore, "receive information from A" can also be understood as "inputting information from A".

[0090] This application provides a control method, a parking area generation method, and related apparatus, relating to the field of intelligent technology, such as control methods and parking area generation methods in parking scenarios during intelligent vehicle driving, and control methods and parking area generation methods in scenarios where robots need to park. To more clearly describe the solution of this application, some terms used in the embodiments of this application will be explained below.

[0091] Embodied intelligence (EI) refers to intelligent systems that possess physical carriers and continuously interact with their physical environment through a closed loop of "perception, decision-making, action, and feedback." These systems autonomously learn, adapt, and complete complex physical tasks in an open world. Examples include intelligent vehicles and robots. Its core lies in the deep integration of perception, understanding, and action, emphasizing the interdependence of the agent's understanding and actions within the physical environment. Embodied intelligence can also be understood as "embodied artificial intelligence," integrating artificial intelligence into physical entities such as robots and vehicles, giving their "brains" a "body," enabling them to perceive, learn, and dynamically interact with their environment like humans.

[0092] User behavior habits: refers to personalized patterns formed by statistically analyzing user operation data on the vehicle (such as parking preferences, frequently used parking locations, etc.), which can be used to generate non-standard parking spaces.

[0093] Standard parking spaces refer to standardized parking spaces, including but not limited to parking spaces with parking lines, parking spaces around reference terminals, and mechanical parking spaces. Parking spaces around reference terminals can be understood as spaces that can be created around a parked terminal, serving as a reference point. Examples include parking spaces created between a reference terminal outside the park and the curb, parking spaces created between two reference terminals within the park, and parking spaces created in vacant areas around reference terminals within the park. Parking in vacant areas around reference terminals is already a common practice, and parking in such areas, where a reference terminal is available, can still be considered a standard parking space. It should be noted that the term "standard parking space" here is a broad one, encompassing standard parking spaces for robots and other embodied intelligent terminals.

[0094] Non-standard parking spaces refer to parking spaces that are not standardized, such as those without parking lines, without surrounding terminal references, or that are not mechanical parking spaces. Their location information can be generated locally on the vehicle or in the cloud by analyzing user behavior habits and identifying frequently used parking spots. This information can be linked to the user's account to achieve personalized parking assistance. In short, any vacant area that does not conform to standard parking spaces can be considered a non-standard parking space. It should be noted that the term "non-standard parking space" here is broad, encompassing non-standard parking spaces where robots and other intelligent terminals can park.

[0095] Memory parking spaces: This refers to a technology that stores frequently used parking space information (including non-standard parking spaces) in the cloud and links it to the user's account, allowing personalized parking space memories to be synchronized and retrieved even when the user changes vehicles. It should be noted that memory parking spaces here are used in a broad sense, encompassing memory parking spaces used by robots and other intelligent terminals.

[0096] Parking space release: This refers to the process of automatically providing or activating parking assistance functions for corresponding non-standard parking spaces based on memorized parking space information when the user needs it (such as when arriving near a frequently used location). It should be noted that parking space release here is a broad term, encompassing parking space release by robots and other intelligent terminals.

[0097] Intelligent driving functions: These refer to a series of functions that utilize advanced sensors, controllers, actuators, and other devices, combined with modern communication and network technologies, to enable vehicles to automatically perceive, make decisions, and control themselves, thereby achieving autonomous or assisted driving. It should be noted that intelligent driving here is a broad concept, encompassing fields such as embodied intelligence like robotics.

[0098] The intelligent driving function is provided by an intelligent driving system, which can also be called an intelligent driving system, intelligent driving assistance system, etc., and this application does not limit this. The intelligent driving system may include an advanced driving assistance system (ADAS) and / or an autonomous driving system (ADS). The intelligent driving system utilizes various sensors on the vehicle (including but not limited to: lidar, millimeter-wave radar, camera devices, ultrasonic sensors, global positioning system, inertial measurement unit) to acquire information from the vehicle's surroundings, and analyzes and processes the acquired information to achieve functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring / alert, etc., thereby improving the safety, automation, and comfort of vehicle driving.

[0099] In some implementations, under different levels of autonomous driving (or intelligent driving levels, ranging from L0 to L5, six levels in total), intelligent driving systems can achieve different levels of autonomous driving assistance based on artificial intelligence algorithms and information acquired by multiple sensors. The aforementioned autonomous driving levels are based on the classification standards of the Society of Automotive Engineers (SAE). Specifically, L0 is no automation; L1 is driver assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. At levels L1 to L3, the task of monitoring road conditions and reacting is jointly completed by the driver and the system, requiring the driver to take over dynamic driving tasks. Levels L4 and L5 allow the driver to completely transform into a passenger. It should be understood that this classification standard is only an example of a possible classification, and this application does not specifically limit the level of intelligent driving.

[0100] In some implementations, intelligent driving systems can perform functions including, but not limited to: adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, forward cross-traffic alert / braking, rear cross-traffic alert / braking, forward collision warning, lane departure warning, lane keeping assist, rear collision warning, traffic sign recognition, traffic jam assist, and highway assist. It should be understood that these functions can have specific modes at different levels of autonomous driving (L0-L5); the higher the level of autonomous driving, the more intelligent the corresponding mode.

[0101] In some implementations, a vehicle being in intelligent driving mode can be understood as the state in which the vehicle is driving under the control of an intelligent driving system. For example, when a vehicle is operating with functions such as automatic parking, adaptive cruise assist, navigation cruise assist (NCA), and navigation on autopilot (NOA) enabled, it can be determined that the vehicle is in intelligent driving mode.

[0102] In some implementations, a vehicle can be put into intelligent driving mode either actively or passively. For example, the driver can actively activate the intelligent driving function on the vehicle, at which point the vehicle is in intelligent driving mode. Another example is when, during driving, the vehicle's sensor system detects that the driver has suddenly fallen ill or experienced another accident, causing the driver to temporarily lose control of the vehicle and the vehicle to be out of control; in this case, the vehicle can passively trigger the activation of the intelligent driving function, and the vehicle is in intelligent driving mode.

[0103] Valet parking is an intelligent function that allows a vehicle to automatically park itself in a designated or temporary parking space or drive out of a parking space without direct driver intervention. Valet parking primarily relies on various sensors equipped on the vehicle, such as cameras, millimeter-wave radar, and ultrasonic radar, to perceive the surrounding environment. These sensors monitor the distance and position of the vehicle relative to surrounding obstacles, parking space boundaries, and other vehicles in real time. Simultaneously, the vehicle's intelligent driving system uses the information obtained from the sensors, combined with high-precision maps or parking lot layout information, to plan a safe and efficient parking path. Then, through precise control of the vehicle's power, steering, and braking systems, the vehicle automatically drives along the planned path to complete the parking operation. It should be noted that valet parking here is a broad term, encompassing valet parking services provided by robots and other intelligent terminals.

[0104] The following, in conjunction with the accompanying drawings, describes a smart terminal that may be applied to this application and its application scenarios.

[0105] Please see Figure 1 , Figure 1 This is a schematic diagram of the system architecture of a smart terminal provided in an embodiment of this application.

[0106] like Figure 1 As shown, taking a vehicle as an example of a smart terminal, the vehicle 100 may include, but is not limited to, one or more of the following: a power system 11, a braking system 12, a sensor system 13, a vehicle control device 14, and peripheral equipment 15. Wherein: The power system 11 provides power to the vehicle 100, and may include one or more of the following: an engine, a power battery, etc.

[0107] Braking system 12 can represent a system for slowing down the speed of vehicle 100, and can also be called a braking system.

[0108] The sensor system 13 may include several detection devices (or probes) that can measure information and convert the measured information into electrical signals or other desired forms of information output according to a certain rule. For example... Figure 1 As shown, the sensor system 13 of vehicle 100 includes one or more of the following detection devices: image sensor 131, tire pressure sensor 132, lidar 133, radar 134, wheel speed sensor 135, steering sensor 136, or positioning system 137, etc. Some of these detection devices are described below by way of example: Image sensor 131 is used to capture images, such as pictures and videos. In some specific implementations, the camera device includes, but is not limited to, a dashcam, a camera, a video camera, or other elements used for taking pictures / videos. Optionally, image sensor 131 can be configured to capture images of the exterior of the vehicle to obtain information about the vehicle's surrounding environment. Alternatively, image sensor 131 can be configured to capture images of the vehicle's interior, such as images of the driver and the cabin. Of course, in specific implementations, the vehicle may also include multiple image sensors 131 to simultaneously capture images of both the vehicle's interior and exterior.

[0109] LiDAR 133 and radar 134 are devices that detect objects using electromagnetic waves (including light). They can obtain relevant information about targets in the object space by emitting signals and receiving echoes, including one or more of the target's distance (or depth), angle, speed, reflectivity, and color. For example, LiDAR 133 can be configured to face outwards from the vehicle to detect targets around the vehicle. In some embodiments, LiDAR 133 and radar 134 can be used to detect information about the vehicle's surrounding environment, such as static environmental information and dynamic environmental information.

[0110] Peripheral device 15 may include several components, such as Figure 1 The human-machine interaction (HMI) 151, speaker 152, microphone 153, etc. are shown. Among them, the HMI is a device that connects to input and / or output devices to realize human-machine information interaction, including but not limited to displays (such as vehicle central control screens, streaming rearview mirrors, instrument panels, head-up displays (HUDs), light field screens, or projectors, etc.) and touch screens.

[0111] The vehicle control device 14 is a device with computing and / or control capabilities, and may include one or more processors. The processors can be used to execute programs or instructions corresponding to programs to achieve corresponding functions. Exemplarily, the vehicle control device 14 is a domain controller (DC), an electronic control unit (ECU), etc., where the DC includes, for example, a motion domain controller (MDC) or a vehicle domain controller (VDC). In some solutions, the vehicle control device 14 may not be located inside the vehicle, for example, it may be located in the cloud, on roadside equipment, or in a data center.

[0112] As one possible implementation, the vehicle control device 14 can be combined with one or more other components in the vehicle, such as the power system 11, braking system 12, and sensor system 13 in the vehicle 100, to achieve driving assistance functions. For example, the vehicle control device 14 can control the driving speed of the vehicle 100 in intelligent driving mode based on data collected by the sensor system 13.

[0113] In some designs, the vehicle also includes a memory to provide storage space. For example, the memory may include volatile memory, such as RAM. Alternatively, the memory may include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD). Combinations of these types of memory are also possible. Optionally, the memory may also store information such as road maps, driving routes, and sensor data.

[0114] It should be noted that the above Figure 1 This is merely a schematic diagram of one possible functional framework for vehicle 100. In practical applications, vehicle 100 may include more or fewer systems or components, and this application does not impose any limitations. For example, vehicle 100 may also include a power supply or a communication system, etc.

[0115] It should be noted that the above Figure 1Taking a vehicle as an example of an intelligent terminal, this explanation clarifies that for other intelligent terminal applications in the field of embodied intelligence, such as robotic terminals, the components may include, but are not limited to, one or more of the following: a power system, a braking system, a sensor system, a control device, and peripheral equipment. The power system provides power to the robot, the braking system slows down the robot's speed, the sensor system senses the robot's surrounding environment, and the control device performs calculations and / or controls to achieve the aforementioned functions such as intelligent driving and valet parking. For detailed descriptions of the module functions, please refer to the above. Figure 1 The relevant descriptions will not be repeated here.

[0116] Currently, in practical applications using the aforementioned vehicles as embodied intelligent terminals, there are numerous non-standard parking spaces (such as those without clear markings, without surrounding terminal references, or not belonging to mechanical parking spaces). These spaces are difficult to effectively identify using rule-based or vision-based parking detection algorithms. Simultaneously, users' demands for parking convenience are constantly increasing, hoping that vehicles can remember and adapt to their frequently used parking locations, especially non-standard parking spaces that they habitually use. For vehicles with intelligent driving functions enabled, if the vehicle encounters an empty area without standard parking spaces but actually available for parking during intelligent driving, it may fail to recognize an available standard parking space, leading to parking failure and potentially disengaging from intelligent driving, thus impacting the user's intelligent driving experience.

[0117] In view of this, this application provides a vehicle-cloud collaborative system and correspondingly proposes a control method, a parking area generation method, and related devices, relating to the field of intelligent technology, such as control methods and parking area generation methods in parking scenarios during intelligent driving of vehicles, and control methods and parking area generation methods in scenarios where robots need to park. This can solve the problem of parking failure caused by the lack of standard parking spaces during intelligent driving of embodied intelligent terminals, and improve the user's intelligent driving experience.

[0118] The vehicle-cloud collaborative system and control method, as well as the parking area generation method provided in this application, will be described in detail below with reference to the accompanying drawings.

[0119] Please see Figure 2 , Figure 2 This is a schematic diagram of the architecture of a vehicle-cloud collaborative system provided in an embodiment of this application.

[0120] like Figure 2 As shown, this vehicle-cloud collaborative system mainly includes, but is not limited to, vehicles and the cloud. The cloud can include cloud servers and / or cloud virtual machines. The cloud can communicate with the vehicle to provide various services, such as over-the-air (OTA) updates, high-precision map services, autonomous driving or assisted driving services, valet parking services, etc.

[0121] Alternatively, the vehicle can interact with the cloud wirelessly, following the wireless protocol of the network to which the vehicle is connected, such as vehicle-to-everything (V2X) cellular wireless communication technology, such as long term evolution (LTE) wireless network, 5th generation (5G) wireless network, or 6th generation (6G) wireless network.

[0122] In some solutions, if a vehicle encounters an empty area where there is no standard parking space (e.g., no clear parking lines, no surrounding terminal reference, or it is not a mechanical parking space) but parking is possible during intelligent driving, the vehicle-cloud collaborative system in this application embodiment can provide solutions including but not limited to the following: Step 1: Generate non-standard parking spaces.

[0123] Based on locally stored historical parking information, the vehicle can obtain user behavior habits, thereby generating non-standard parking spaces at the user's frequently used parking locations. This historical parking information includes, but is not limited to, any one or more of the vehicle's historical parking location information, historical parking trajectory information, and historical parking environment information.

[0124] Alternatively, vehicles can report historical parking information to the cloud. Based on this information, the cloud can determine user behavior habits and generate non-standard parking spaces at the user's frequently used parking locations. This historical parking information includes, but is not limited to, any one or more of the following: historical parking location information, historical parking trajectory information, and historical parking environment information.

[0125] Step 2: Use non-standard parking spaces for trajectory planning to generate parking trajectories.

[0126] When a vehicle approaches a frequently used parking spot, it triggers the invocation of the non-standard parking space generated in step one to perform trajectory planning and generate a parking trajectory. Optionally, during trajectory planning, the vehicle can also dynamically fine-tune the parking posture of the non-standard parking space by combining perceived environmental information, and then plan the parking trajectory based on the adjusted non-standard parking space and environmental information.

[0127] Alternatively, the vehicle reports its location, status, and perceived environmental information to the cloud. The cloud can then know the vehicle's location in real time. When the vehicle approaches a frequently used parking spot, the cloud is triggered to call the non-standard parking space generated in step one for trajectory planning, generating a parking trajectory. Optionally, when performing trajectory planning, the cloud can also dynamically fine-tune the parking posture of the non-standard parking space based on the vehicle's environmental information, and then plan the parking trajectory based on the adjusted non-standard parking space and environmental information.

[0128] Step 3: The vehicle is parked into the non-standard parking space according to the generated parking trajectory.

[0129] The vehicle travels based on the parking trajectory obtained from its own vehicle planning to park in non-standard parking spaces.

[0130] Alternatively, the cloud can send the planned parking trajectory to the vehicle, instructing the vehicle to drive along the planned trajectory to park in a non-standard parking space.

[0131] In other solutions, the generated non-standard parking spaces can be bound to users and move with them across different vehicles.

[0132] For example, when a user travels using vehicle A, a non-standard parking space can be generated based on vehicle A's historical parking information. This non-standard parking space information can be linked to the user and stored in the cloud. When the user switches to vehicle B, logging in with their user information on vehicle B allows them to access the non-standard parking space generated based on vehicle A's historical parking information stored in the cloud for parking trajectory planning. Furthermore, when planning the parking trajectory for vehicle B, the parking position of the non-standard parking space can be dynamically fine-tuned by incorporating differences between vehicle B and vehicle A. Based on the adjusted non-standard parking space and environmental information, the parking trajectory is then planned. These differences between vehicle B and vehicle A can include, but are not limited to, differences in vehicle size and vehicle mobility, or one or more of these. Differences in vehicle size may require dynamic adjustments to the position and size of the non-standard parking space, while differences in vehicle mobility may require dynamic adjustments to the position and orientation of the non-standard parking space.

[0133] Therefore, the vehicle-cloud collaborative system in this application embodiment can continuously learn users' parking habits, automatically generate non-standard parking space feature data, and synchronize and bind it with the user account in the cloud, realizing the memory and retrieval of non-standard parking spaces across vehicles. This can not only solve the problem of parking failure due to the lack of standard parking spaces during intelligent driving, but also make the parking location of the vehicle conform to the user's usual parking habits, thereby improving the user's intelligent driving experience.

[0134] Please see Figure 3 , Figure 3 This is a flowchart illustrating a control method provided in an embodiment of this application. The control method is applied in the field of intelligent technology, such as a control method for parking scenarios during intelligent vehicle driving, or a control method for scenarios where a robot needs to park. Specifically, the control method includes, but is not limited to, at least one of the following steps: S301: The control device acquires the first information.

[0135] It is understood that the control device in the embodiments of this application may be a device equipped with a processor / chip capable of executing computer execution instructions, or it may be a processor / chip capable of executing computer execution instructions. Optionally, the control device may be an electronic device, or it may be a processor / chip within an electronic device. Optionally, the control device may specifically be an intelligent driving domain controller. Optionally, the control device may also be the aforementioned Figure 1 The vehicle control device 14 in the middle, or the above Figure 2 The vehicles in, or the above Figure 2 The cloud-based system is used to execute the control methods in the embodiments of this application, which can solve the problem of parking failure caused by the lack of standard parking spaces during intelligent driving of the intelligent terminal, and improve the user's intelligent driving experience.

[0136] Optionally, the control device and control method in the embodiments of this application can be applied to, but are not limited to, vehicle systems. The vehicle equipped with the vehicle system is an intelligent driving vehicle and can be replaced by a personal intelligent terminal (such as the first terminal in this application). The personal intelligent terminal can be, but is not limited to, vehicles such as commercial vehicles, passenger cars, trains, etc., industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), robots, etc. The embodiments of this application do not specifically limit this.

[0137] The first information includes information about the first area, which does not include standard parking spaces. It can be understood as an empty area where there are no standard parking spaces but parking is actually possible.

[0138] Optionally, the standard parking space includes one or more of the following: parking spaces with parking lines, parking spaces in the space surrounding the reference terminal, and mechanical parking spaces.

[0139] It should be noted that, for ease of description, the embodiments of this application are described using a scenario where the embodied intelligent terminal (the first terminal in this application) is a vehicle, and should not be construed as limiting the embodiments of this application. The embodiments of this application are not only applicable to vehicle parking scenarios, but also to parking scenarios of other embodied intelligent terminals such as robots. For example, in the scenario where the embodied intelligent terminal is a robot, the robot may have a fixed parking location, or it may park in a permitted parking location based on instructions, planning, or actual environmental conditions. For instance, when an existing parking location is occupied or blocked, the robot can obtain a parking space location using this method. Accordingly, in the scenario where the embodied intelligent terminal is a robot, "parking space" in the embodiments of this application can be replaced with "parking spot," and "parking / stopping" in the embodiments of this application can be replaced with "parking." Similarly, the relevant expressions can be replaced according to different parking scenarios of embodied intelligent terminals, which will not be elaborated further below.

[0140] Among them, the parking spaces around the reference terminal can be understood as using the already parked terminal as a reference terminal, and parking spaces can be generated around the reference terminal. For example, parking spaces can be generated between a reference terminal outside the park and the curb, parking spaces can be generated between two reference terminals inside the park, and parking spaces can be generated in the vacant area around the reference terminal inside the park.

[0141] It is understandable that any vacant area that does not meet the above-mentioned standard parking spaces can be considered as the scope of the first zone.

[0142] S302: The control device obtains the first planned trajectory based on the first information.

[0143] The first planned trajectory is used to guide the first terminal to dock in the first area.

[0144] Optionally, the above control method may also include, but is not limited to, the following steps: The control device controls the first terminal to travel along the first planned trajectory in order to park in the first area.

[0145] Understandably, when the first terminal approaches the first area, it can call the information of the first area to perform trajectory planning and obtain the first planned trajectory, so that the first terminal can park in the first area according to the first planned trajectory. This can solve the problem of the first terminal failing to park due to the lack of standard parking spaces during intelligent driving and improve the user's intelligent driving experience.

[0146] Optionally, the first area can be the area of ​​the first terminal's frequently used parking spots. When the first terminal approaches a frequently used parking spot, it can call upon non-standard parking spaces near the frequently used parking spot for trajectory planning, so that the first terminal can park in a non-standard parking space near the frequently used parking spot according to the planned trajectory. Through the embodiments of this application, not only can the problem of the first terminal failing to park due to the lack of standard parking spaces during intelligent driving be solved, but the parking position of the first terminal can also conform to the user's habit of frequently used parking spots, thereby improving the user's intelligent driving experience.

[0147] In one possible embodiment, the aforementioned first information can be generated based on different information, and the corresponding planned trajectories obtained based on the first information will also be different. The following describes the different cases: Scenario 1: The aforementioned first information is obtained based on the historical parking information of the first terminal.

[0148] Optionally, the historical parking information of the first terminal includes any one or more of the following: historical parking location information of the first terminal, historical parking trajectory information of the first terminal, and historical parking environment information of the first terminal.

[0149] It is understandable that the information of the first area can be obtained based on the historical parking information of the first terminal, so that the first area can be the area of ​​the first terminal's frequently used parking points, which is more in line with the historical parking habits of the first terminal's users and improves the user's intelligent driving experience.

[0150] Optionally, when the first area is a frequently used parking area for the first terminal, non-standard parking spaces can be generated at the frequently used parking areas based on the historical parking information of the first terminal, so that the first terminal can park in non-standard parking spaces at the frequently used parking areas, thereby improving the user's intelligent driving experience.

[0151] Optionally, in case one, step S302 above can be implemented in ways including but not limited to the following: The control device adjusts the parking position in the first area based on the environmental information of the first terminal.

[0152] Based on the environmental information of the first terminal and the adjusted parking posture of the first area, the control device obtains a first planned trajectory, which is used to guide the first terminal to park in the adjusted first area.

[0153] Understandably, when using information from the first area for trajectory planning, obstacle detection can be performed based on the environmental information of the first terminal. Then, the parking posture of the first area can be dynamically fine-tuned based on the obstacle detection results. The parking posture of the first area can be understood as the position, orientation, and other parking posture of the non-standard parking spaces within the first area. This avoids obstacles encroaching on the non-standard parking spaces in the first area, ensuring their release and thus improving the success rate of the first terminal parking in the first area. For example, when pedestrian traffic is detected in the first area, the position of the non-standard parking spaces can be adjusted (e.g., shifting the entire non-standard parking space a certain distance) to maintain a safe distance from the pedestrian traffic, ensuring the safe release of the non-standard parking spaces in the first area. For example, if an obstacle higher than the ground is detected in the first area, and this obstacle is located at the berthing entrance of a non-standard berth in the first area, it will prevent the first terminal from berthing in the non-standard berth. In this case, the orientation of the non-standard berth in the first area can be adjusted (for example, by rotating the non-standard berth as a whole by a certain angle) so that the berthing entrance of the non-standard berth avoids the obstacle, ensuring that the non-standard berth in the first area can be safely released, so that the first terminal can successfully berth in the non-standard berth in the first area without being blocked by the obstacle.

[0154] Scenario 2: The first piece of information mentioned above is obtained based on the historical parking information of the second terminal, and the user information logged in on the second terminal is the same as the user information logged in on the first terminal.

[0155] Optionally, the historical parking information of the second terminal includes any one or more of the following: historical parking location information of the second terminal, historical parking trajectory information of the second terminal, and historical parking environment information of the second terminal.

[0156] Understandably, information about the first area can be obtained based on historical parking information from other terminals (such as a second terminal). However, it is required that the user information logged in on the second terminal is the same as that logged in on the first terminal, so that the generated information about the first area can be associated with and synchronized with the user. This ensures that the user's parking preferences can "follow the user" across different terminals, rather than being "bound to a specific terminal".

[0157] Through the embodiments of this application, it is possible to ensure that the location of the first area is more in line with the user's historical parking habits, and to achieve seamless connection of the user's personalized parking experience across terminals, thereby improving the user's intelligent driving experience.

[0158] Optionally, in case two, step S302 can be implemented in ways including but not limited to the following: The control device adjusts the parking posture of the first area based on the difference information between the second terminal and the first terminal, and / or the environmental information of the first terminal.

[0159] Based on the environmental information of the first terminal and the adjusted parking posture of the first area, the control device obtains a first planned trajectory, which is used to guide the first terminal to park in the adjusted first area.

[0160] Optionally, the difference information between the second terminal and the first terminal may specifically include, but is not limited to, any one or more of the differences in terminal size and terminal mobility.

[0161] Among these factors, differences in terminal size may require dynamic fine-tuning of the position and size of non-standard berths in the first area, and differences in terminal mobility may require dynamic fine-tuning of the position and orientation of non-standard berths in the first area.

[0162] Understandably, when the information of the first area generated based on the historical parking information of the second terminal follows the user's migration from the second terminal to the first terminal, during trajectory planning using the information of the first area, the parking posture of the first area can be dynamically fine-tuned based on the differences between the second and first terminals, and / or, obstacle detection can be performed based on the environmental information of the first terminal, and then the parking posture of the first area can be dynamically fine-tuned based on the obstacle detection results. The parking posture of the first area can be understood as the position, orientation, and other parking posture of the non-standard berths in the first area, avoiding obstacles from encroaching on the first area, ensuring that the non-standard berths in the first area can be released, thereby improving the success rate of the first terminal parking in the first area. For example, when the size of the first terminal is larger than the size of the second terminal, the size of the non-standard berths in the first area can be increased (such as increasing the overall length and width of the non-standard berths) so that the non-standard berths can accommodate the first terminal, ensuring that the non-standard berths in the first area can be released safely. For example, when the steering ability of the first terminal is not as good as that of the second terminal, the first terminal may be unable to park in the non-standard berth in the first area, or may need to shift gears and maneuver multiple times to park in the non-standard berth in the first area. In this case, the position of the non-standard berth in the first area can be adjusted (e.g., the non-standard berth can be moved horizontally by a certain distance) and / or its orientation can be adjusted (e.g., the non-standard berth can be rotated by a certain angle) so that the first terminal can successfully park in the non-standard berth in the first area with a small steering adjustment, thus ensuring that the non-standard berth in the first area can be successfully released.

[0163] It should be understood that the above scenarios one and two are merely illustrative examples of several possible implementations for the generation of the first information and the planning of the parking trajectory, and should not be construed as limiting the embodiments of this application.

[0164] It should be understood that any new embodiments obtained by reasonable modifications, additions, or combinations of the above-described situations one to two are all within the protection scope of the embodiments of this application.

[0165] In one possible embodiment, the above control method may further include, but is not limited to, the following steps: The control device controls the display of one or more of the following information: information about the first area, information about the first planned trajectory.

[0166] It is understood that the embodiments of this application can also control the display of the first terminal to call the information of the first area to perform trajectory planning to park in the relevant information of the first area. For example, the information of the first area and the information of the first planned trajectory can be highlighted by means including but not limited to rendering and highlighting, which can improve the user's perception of actively calling and parking in non-standard parking spaces of commonly used parking points during intelligent driving, thereby improving the user's intelligent driving experience.

[0167] In one possible embodiment, the first information mentioned above comes from a first terminal, or the first information comes from the cloud.

[0168] It is understandable that the first area in the first information can be generated by the first terminal or by the cloud.

[0169] When the first region in the first information is generated by the first terminal, it can specifically be as described above. Figure 1 The vehicle control device 14 generates the signal, or it may be generated by the aforementioned... Figure 2 The vehicle in the first information is generated. When the first region in the first information is generated by the cloud, it can specifically be generated by the aforementioned... Figure 2 Generated in the cloud.

[0170] In one possible embodiment, the above control method can be executed by a first terminal, or the above control method can also be executed by the cloud.

[0171] Optionally, when the above control method is executed by the first terminal, the control method may also include, but is not limited to, the following steps: Report relevant information about the first terminal entering the first area based on the first planned trajectory to the cloud.

[0172] Understandably, the first terminal could plan the parking trajectory. After parking in the first area, it could report relevant information about this parking to the cloud, such as information about the first area, the planned trajectory, and environmental information during the parking process. Furthermore, the cloud could remember this parking behavior and adjust and optimize the position and orientation of the first area to better suit the parking habits of the user, thus improving the user's intelligent driving experience.

[0173] Optionally, when the above control method is executed by the cloud, the control method may also include, but is not limited to, the following steps: Send the information of the first planned trajectory to the first terminal.

[0174] It is understandable that the parking trajectory can be planned by the cloud. After obtaining the first planned trajectory, the information of the first planned trajectory is sent to the first terminal so that the first terminal can park in the first area according to the first planned trajectory.

[0175] Optionally, the control method provided in this application embodiment can be applied to parking scenarios including but not limited to the following: (1) Scenarios of common parking spots without parking lines: Areas without parking lines, but where users frequently park. Through the embodiments of this application, users' parking habits can be analyzed to generate non-standard parking spaces at common parking spots.

[0176] (2) Family multi-car sharing scenario: A family owns multiple vehicles. The parking habits formed by any family member in any car (such as parking in a specific unmarked location in front of the house) can be memorized, learned, and synchronized to other vehicles through the embodiments of this application. When another family member drives another car home, the non-standard parking space can also be automatically recommended, improving the convenience of family car use.

[0177] (3) Corporate fleet management scenario: When employees use different company vehicles to go out to work, the implementation of this application can remember each employee's preferred parking space at frequently used customer locations or office locations. No matter which company vehicle the employee changes to, they can get personalized parking guidance after arriving at their destination, which improves work efficiency and employee experience.

[0178] (4) Car rental / car sharing scenario: When a user rents or uses a shared car, the user's account information is logged in. Through the embodiments of this application, the user's historical non-standard parking space information (such as in shopping malls that they frequently visit) can be loaded to provide the user with a familiar parking experience in unfamiliar vehicles, which significantly improves the personalization level of rental services and user satisfaction.

[0179] (5) Personal vehicle replacement scenario: After purchasing a new car, users only need to log in to their account information. Through the embodiments of this application, all non-standard parking space memories accumulated by the user in the previous car can be completely transferred to the new car, realizing a seamless transition of user experience in the vehicle replacement process.

[0180] Please see Figure 4 , Figure 4 This is a flowchart illustrating a parking area generation method provided in an embodiment of this application. This parking area generation method is applied in the field of intelligent technology, such as a parking area generation method for parking scenarios during intelligent vehicle driving, or a parking area generation method for scenarios where robots need to park.

[0181] It is understood that the embodiments of this application can be used as the above. Figure 3 The variations or supplements to the illustrated embodiments can also be implemented as standalone embodiments, and the embodiments of this application do not limit this.

[0182] Specifically, the method for generating the parking area includes, but is not limited to, at least one of the following steps: S401: The parking area generation device acquires the second information.

[0183] It is understood that the parking area generation device in this application embodiment can be a device equipped with a processor / chip capable of executing computer execution instructions, or it can be a processor / chip capable of executing computer execution instructions. Optionally, the parking area generation device can be an electronic device, or it can be a processor / chip within an electronic device. Optionally, the parking area generation device can specifically be an intelligent driving domain controller. Optionally, the parking area generation device can also be the aforementioned Figure 1 The vehicle control device 14 in the middle, or the above Figure 2 The vehicles in, or the above Figure 2 The cloud-based system is used to execute the parking area generation method in this application embodiment, which can solve the problem of parking failure caused by the lack of standard parking spaces during intelligent driving of the intelligent terminal, and improve the user's intelligent driving experience.

[0184] Optionally, the parking area generation device and parking area generation method in this application embodiment can be applied to, but are not limited to, vehicle systems. The vehicle equipped with the vehicle system is an intelligent driving vehicle and can be replaced by an embodied intelligent terminal (such as the first terminal in this application). The embodied intelligent terminal can be, but is not limited to, vehicles such as commercial vehicles, passenger cars, trains, etc., industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), robots, etc. This application embodiment does not specifically limit this.

[0185] The second information includes the historical parking information of the first terminal and / or the historical parking information of the second terminal.

[0186] Optionally, the historical parking information of the first terminal includes any one or more of the following: historical parking location information of the first terminal, historical parking trajectory information of the first terminal, and historical parking environment information of the first terminal.

[0187] Optionally, the historical parking information of the second terminal includes any one or more of the following: historical parking location information of the second terminal, historical parking trajectory information of the second terminal, and historical parking environment information of the second terminal.

[0188] S402: The parking area generation device generates a first area based on the second information.

[0189] The first area does not include standard parking spaces and is used for the first terminal parking.

[0190] It is understandable that the first area does not include standard parking spaces. It can be understood as an empty area where there are no standard parking spaces but parking is actually possible.

[0191] Optionally, the standard parking space includes one or more of the following: parking spaces with parking lines, parking spaces in the space surrounding the reference terminal, and mechanical parking spaces.

[0192] It should be noted that, for ease of description, the embodiments of this application are described using a scenario where the embodied intelligent terminal (the first terminal in this application) is a vehicle, and should not be construed as limiting the embodiments of this application. The embodiments of this application are not only applicable to vehicle parking scenarios, but also to parking scenarios of other embodied intelligent terminals such as robots. For example, in the scenario where the embodied intelligent terminal is a robot, the robot may have a fixed parking location, or it may park in a permitted parking location based on instructions, planning, or actual environmental conditions. For instance, when an existing parking location is occupied or blocked, the robot can obtain a parking space location using this method. Accordingly, in the scenario where the embodied intelligent terminal is a robot, "parking space" in the embodiments of this application can be replaced with "parking spot," and "parking / stopping" in the embodiments of this application can be replaced with "parking." Similarly, the relevant expressions can be replaced according to different parking scenarios of embodied intelligent terminals, which will not be elaborated further below.

[0193] Among them, the parking spaces around the reference terminal can be understood as using the already parked terminal as a reference terminal, and parking spaces can be generated around the reference terminal. For example, parking spaces can be generated between a reference terminal outside the park and the curb, parking spaces can be generated between two reference terminals inside the park, and parking spaces can be generated in the vacant area around the reference terminal inside the park.

[0194] It is understandable that any vacant area that does not meet the above-mentioned standard parking spaces can be considered as the scope of the first zone.

[0195] Understandably, when the first area is obtained based on the historical parking information of the first terminal, the first area can be the area of ​​the first terminal's frequently used parking spots, which is more in line with the historical parking habits of the first terminal's users and improves the user's intelligent driving experience.

[0196] Understandably, when the first area is obtained based on the historical parking information of the second terminal, the first area can be the area of ​​the second terminal's frequently used parking spots. When the first area is moved from the second terminal to the first terminal along with the user, it is more in line with the historical parking habits of the first terminal's users and improves the user's intelligent driving experience.

[0197] Through the embodiments of this application, a first area can be generated based on historical parking information. When the first terminal approaches the first area, it can actively call the first area for trajectory planning to park in the first area. This can solve the problem of the first terminal failing to park due to the lack of standard parking spaces during intelligent driving, and improve the user's intelligent driving experience.

[0198] Furthermore, the first area generated based on historical parking information can be the area of ​​the user's frequently used parking spots, so that the parking location of the first terminal conforms to the user's habit of frequently used parking spots, thereby improving the user's intelligent driving experience.

[0199] In one possible embodiment, when the first region is obtained based on the historical parking information of the second terminal, the user information corresponding to the historical parking information of the second terminal is the same as the user information logged in by the first terminal.

[0200] It is understandable that the information of the first area can be obtained based on the historical parking information of other terminals (such as the second terminal), but it is required that the user information corresponding to the historical parking information of the second terminal is the same as the user information logged in on the first terminal, so that the generated information of the first area can be associated with and synchronized with the user, ensuring that the user's parking preferences can "follow the user" to migrate on different terminals, rather than being "bound to a specific terminal".

[0201] Through the embodiments of this application, it is possible to ensure that the location of the first area is more in line with the user's historical parking habits, and to achieve seamless connection of the user's personalized parking experience across terminals, thereby improving the user's intelligent driving experience.

[0202] In one possible embodiment, the above-described method for generating parking areas may also include, but is not limited to, the following steps: The parking area generation device receives a first instruction, which is used to instruct the adjustment of the pose of the first area.

[0203] The parking area generation device adjusts the pose of the first area based on the first command.

[0204] Through the embodiments of this application, the pose of the generated first region can be adjusted in response to user instructions, supporting user operations such as adding, deleting, modifying, querying, and adding to favorites in the first region to meet the user's parking expectations, thereby improving the user's intelligent driving experience.

[0205] The methods of the embodiments of this application have been described in detail above. The following provides an apparatus for implementing any one of the methods in the embodiments of this application. For example, an apparatus is provided that includes a unit (or means) for implementing the steps performed by the device in any of the above methods.

[0206] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a control device provided in an embodiment of this application.

[0207] like Figure 5 As shown, the control device 50 may include a communication unit 501 and a processing unit 502. The communication unit 501 and the processing unit 502 may be software, hardware, or a combination of software and hardware.

[0208] The communication unit 501 can implement sending and / or receiving functions, and can also be described as a transceiver unit. The communication unit 501 can also be a unit integrating an acquisition unit and a sending unit, wherein the acquisition unit is used to implement the receiving function, and the sending unit is used to implement the sending function. Optionally, the communication unit 501 can be used to receive information sent by other devices, and can also be used to send information to other devices.

[0209] In one possible design, the control device 50 may correspond to the above. Figure 3 The control device in the illustrated method embodiment, such as control device 50, can be an electronic device or a chip within an electronic device. Control device 50 may include components for performing the above-described... Figure 3 The unit in the method embodiment shown is the one whose operation is performed by the control device, and each unit in the control device 50 is respectively for implementing the above-mentioned... Figure 3 The operations performed by the control device in the illustrated method embodiment are as follows: The descriptions of each unit are as follows: The processing unit 502 is used to acquire first information, which includes information about a first area, and the first area does not include standard berths.

[0210] The processing unit 502 is also configured to obtain a first planned trajectory based on the first information, and the first planned trajectory is used to guide the first terminal to dock in the first area.

[0211] In one possible implementation, the device further includes a communication unit 501.

[0212] The processing unit 502 is specifically used to obtain the first information through the communication unit 501.

[0213] Regarding the communication unit 501 and processing unit 502 described in this design, the steps they perform can be referred to the corresponding steps described above. Figure 3 The implementation method corresponding to the control device in the method embodiment shown.

[0214] Regarding the technical effects brought about by the implementation methods performed by the communication unit 501 and processing unit 502 described in this design, please refer to the corresponding methods described above. Figure 3 The technical effects of the illustrated method embodiments are described below.

[0215] According to the embodiments of this application, Figure 5The various units in the illustrated device can be individually or entirely combined into one or more other units, or some of the units can be further divided into multiple functionally smaller units. This achieves the same operation without affecting the technical effects of the embodiments of this application. The above-mentioned units are based on logical function division. In practical applications, the function of one unit can also be implemented by multiple units, or the function of multiple units can be implemented by one unit. In other embodiments of this application, the electronic device may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented collaboratively by multiple units.

[0216] It should be noted that the implementation of each unit can also refer to the above. Figure 3 The corresponding description of the method embodiments shown.

[0217] exist Figure 5 The control device 50 described herein can solve the problem of parking failure caused by the lack of standard parking spaces during intelligent driving of the intelligent terminal, thereby improving the user's intelligent driving experience.

[0218] Please see Figure 6 , Figure 6 This is a schematic diagram of a parking area generation device provided in an embodiment of this application.

[0219] like Figure 6 As shown, the parking area generation device 60 may include a communication unit 601 and a processing unit 602. The communication unit 601 and the processing unit 602 may be software, hardware, or a combination of both.

[0220] The communication unit 601 can implement sending and / or receiving functions, and can also be described as a transceiver unit. The communication unit 601 can also be a unit integrating an acquisition unit and a sending unit, wherein the acquisition unit is used to implement the receiving function, and the sending unit is used to implement the sending function. Optionally, the communication unit 601 can be used to receive information sent by other devices, and can also be used to send information to other devices.

[0221] In one possible design, the parking area generating device 60 may correspond to the above. Figure 4 The parking area generation device in the illustrated method embodiment, such as parking area generation device 60, can be an electronic device or a chip within an electronic device. The parking area generation device 60 may include components for performing the above-described... Figure 4 The method embodiment shown is a unit that performs the operation by the parking area generation device, and each unit in the parking area generation device 60 is respectively for implementing the above-mentioned... Figure 4The operation performed by the parking area generation device in the illustrated method embodiment is as follows: The descriptions of each unit are as follows: The processing unit 602 is used to acquire second information, which includes the historical parking information of the first terminal and / or the historical parking information of the second terminal.

[0222] The processing unit 602 is also configured to generate a first area based on the second information, wherein the first area does not contain a standard berth and is used for the first terminal to berth.

[0223] In one possible implementation, the device further includes a communication unit 601.

[0224] The processing unit 602 is specifically used to obtain the second information through the communication unit 601.

[0225] Regarding the communication unit 601 and processing unit 602 described in this design, the execution steps can be referred to the corresponding steps described above. Figure 4 The embodiment of the method shown corresponds to the implementation of the parking area generation device.

[0226] Regarding the technical effects brought about by the implementation methods performed by the communication unit 601 and processing unit 602 described in this design, please refer to the corresponding methods described above. Figure 4 The technical effects of the illustrated method embodiments are described below.

[0227] According to the embodiments of this application, Figure 6 The various units in the illustrated device can be individually or entirely combined into one or more other units, or some of the units can be further divided into multiple functionally smaller units. This achieves the same operation without affecting the technical effects of the embodiments of this application. The above-mentioned units are based on logical function division. In practical applications, the function of one unit can also be implemented by multiple units, or the function of multiple units can be implemented by one unit. In other embodiments of this application, the electronic device may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented collaboratively by multiple units.

[0228] It should be noted that the implementation of each unit can also refer to the above. Figure 4 The corresponding description of the method embodiments shown.

[0229] exist Figure 6 The parking area generation device 60 described herein can solve the problem of parking failure caused by the lack of standard parking spaces during intelligent driving of the intelligent terminal, thereby improving the user's intelligent driving experience.

[0230] For cases where the control device 50 and the parking area generation device 60 mentioned above can be electronic devices, please refer to [reference needed]. Figure 7 The diagram shows the structure of the electronic device.

[0231] It should be understood that Figure 7 The electronic device 70 shown is merely an example; the electronic device in this application embodiment may also include other components, or include components related to... Figure 7 Components with similar functions, or not necessarily including Figure 7 All components.

[0232] Electronic device 70 includes a transceiver interface 701 and at least one processor 702.

[0233] The electronic device 70 can correspond to a control device and a parking area generation device. A transceiver interface 701 is used for transmitting and receiving signals, and at least one processor 702 executes program instructions, causing the electronic device 70 to implement the corresponding flow of the method executed by the corresponding device in the above method embodiments.

[0234] In one possible design, the electronic device 70 may correspond to the above. Figure 3 The control device in the illustrated method embodiment, such as the electronic device 70, can be a control device itself or a chip within a control device. The electronic device 70 may include components for performing the operations executed by the control device in the above method embodiment, and each component in the electronic device 70 is specifically designed to implement the operations executed by the control device in the above method embodiment. Specifically, it can be as follows: Processor 702 is used to acquire first information, which includes information about a first area, which does not include standard berths.

[0235] The processor 702 is also used to obtain a first planned trajectory based on the first information, and the first planned trajectory is used to guide the first terminal to dock in the first area.

[0236] In one possible implementation, the device further includes a transceiver interface 701.

[0237] The processor 702 is specifically used to obtain the first information through the transceiver interface 701.

[0238] Regarding the transceiver interface 701 and at least one processor 702 described in this design, the steps they perform can be referred to the corresponding steps described above. Figure 3 The implementation method corresponding to the control device in the method embodiment shown.

[0239] Regarding the technical effects of the transceiver interface 701 and the implementation methods performed by at least one processor 702 described in this design, please refer to the corresponding description above. Figure 3The technical effects of the illustrated method embodiments are described below.

[0240] In another possible design, the electronic device 70 may correspond to the above. Figure 4 The parking area generation device in the illustrated method embodiment, such as the electronic device 70, can be either a parking area generation device itself or a chip within a parking area generation device. The electronic device 70 may include components for performing the operations performed by the parking area generation device in the above method embodiment, and each component in the electronic device 70 is specifically designed to implement the operations performed by the parking area generation device in the above method embodiment. Specifically, it can be as follows: The processor 702 is used to acquire second information, the second information including historical berthing information of the first terminal, and / or historical berthing information of the second terminal.

[0241] The processor 702 is also used to generate a first area based on the second information, the first area not including a standard berth, the first area being used for berthing of a first terminal.

[0242] In one possible implementation, the device further includes a transceiver interface 701.

[0243] The processor 702 is specifically used to obtain the second information through the transceiver interface 701.

[0244] Regarding the transceiver interface 701 and at least one processor 702 described in this design, the steps they perform can be referred to the corresponding steps described above. Figure 4 The embodiment of the method shown corresponds to the implementation of the parking area generation device.

[0245] Regarding the technical effects of the transceiver interface 701 and the implementation methods performed by at least one processor 702 described in this design, please refer to the corresponding description above. Figure 4 The technical effects of the illustrated method embodiments are described below.

[0246] exist Figure 7 The described electronic device 70 can solve the problem of parking failure caused by the lack of standard parking spaces during intelligent driving of the embodied intelligent terminal, thereby improving the user's intelligent driving experience.

[0247] For cases where the control device 50 and the parking area generation device 60 can be chips or chip systems, please refer to [reference needed]. Figure 8 The diagram shows the structure of the chip.

[0248] like Figure 8As shown, chip 80 includes a processor 801 and an interface 802. The number of processors 801 can be one or more, and the number of interfaces 802 can be multiple. It should be noted that the functions of the processor 801 and interface 802 can be implemented through hardware design, software design, or a combination of both; no restrictions are placed here.

[0249] Optionally, chip 80 may also include memory 803 for storing necessary program instructions and data.

[0250] In this application, processor 801 can be used to call the implementation program of the control method provided in one or more embodiments of this application in the control device from memory 803, and execute the instructions included in the program. Interface 802 can be used to output the execution result of processor 801. In this application, interface 802 can be specifically used to output various messages or information of processor 801.

[0251] The control methods provided by one or more embodiments of this application can be referred to the foregoing. Figure 3 , Figure 4 The various embodiments shown are not described in detail here.

[0252] The processor in this application embodiment can be a central processing unit (CPU), but it can also 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, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0253] The memory in this application embodiment is used to provide storage space, in which data such as operating system and computer programs can be stored. The memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0254] According to the method provided in the embodiments of this application, the embodiments of this application also provide a computer-readable storage medium storing a computer program. When the computer program is run on one or more processors, it can implement the above-mentioned... Figure 3 , Figure 4 The method shown.

[0255] According to the method provided in the embodiments of this application, the embodiments of this application also provide a computer program product, which includes a computer program. When the computer program runs on a processor, it can achieve the above-mentioned... Figure 3 , Figure 4 The method shown.

[0256] This application embodiment also provides a terminal, which includes at least one control device 50, or a parking area generating device 60, or an electronic device 70, or a chip 80.

[0257] Optionally, the terminal can be a vehicle, which can be a means of transportation in a broad sense, such as a car, truck, robot, aircraft, drone, slow transport vehicle, spacecraft, or ship, etc., and this application embodiment does not limit this.

[0258] Optionally, the terminal is used to implement the above. Figure 3 , Figure 4 The implementation methods shown in the method embodiments correspond to the control device and the parking area generation device.

[0259] This application also provides a cloud platform, which includes at least one control device 50, or a parking area generation device 60, or an electronic device 70, or a chip 80.

[0260] Optionally, the cloud can be a cloud server or a cloud virtual machine; this application embodiment does not limit this.

[0261] Optionally, the cloud is used to achieve the above. Figure 3 , Figure 4 The implementation methods shown in the method embodiments correspond to the control device and the parking area generation device.

[0262] This application also provides a processing apparatus, including a processor and an interface; the processor is used to execute the method in any of the above method embodiments.

[0263] It should be understood that the above-described processing device can be a chip. The units in the various device embodiments and the electronic devices in the method embodiments correspond completely, with corresponding modules or units executing corresponding steps. For example, the communication unit (transceiver) executes the receiving or sending steps in the method embodiments, while other steps besides sending and receiving can be executed by the processing unit (processor). The specific functions of each unit can be found in the corresponding method embodiments. There can be one or more processors.

[0264] It is understood that in the embodiments of this application, the electronic device may perform some or all of the steps in the embodiments of this application. These steps or operations are merely examples, and the embodiments of this application may also perform other operations or variations thereof. Furthermore, the steps may be performed in different orders as presented in the embodiments of this application, and it is not necessarily necessary to perform all the operations in the embodiments of this application.

[0265] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0266] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0267] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0268] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the contributing part, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0269] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A control method, characterized in that, The control method includes: Obtain first information, which includes information about a first area, excluding standard berths; Based on the first information, a first planned trajectory is obtained, which is used to guide the first terminal to dock in the first area.

2. The control method according to claim 1, characterized in that, The standard berth includes any one or more of the following: berths with berth lines, spatial berths around the reference terminal, and mechanical berths.

3. The control method according to claim 1 or 2, characterized in that, The first information is obtained based on the historical parking information of the first terminal.

4. The control method according to claim 3, characterized in that, The historical parking information of the first terminal includes any one or more of the following: the historical parking location information of the first terminal, the historical parking trajectory information of the first terminal, and the historical parking environment information of the first terminal.

5. The control method according to any one of claims 1 to 4, characterized in that, The step of obtaining the first planned trajectory based on the first information includes: Based on the environmental information of the first terminal, adjust the parking posture of the first area; Based on the environmental information of the first terminal and the adjusted parking posture of the first area, the first planned trajectory is obtained, and the first planned trajectory is used to guide the first terminal to park in the adjusted first area.

6. The control method according to claim 1 or 2, characterized in that, The first information is obtained based on the historical parking information of the second terminal, and the user information corresponding to the historical parking information of the second terminal is the same as the user information logged in on the first terminal.

7. The control method according to claim 6, characterized in that, The historical parking information of the second terminal includes any one or more of the following: the historical parking location information of the second terminal, the historical parking trajectory information of the second terminal, and the historical parking environment information of the second terminal.

8. The control method according to claim 6 or 7, characterized in that, The step of obtaining the first planned trajectory based on the first information includes: Based on the difference information between the second terminal and the first terminal, and / or the environmental information of the first terminal, the parking posture of the first area is adjusted. Based on the environmental information of the first terminal and the adjusted parking posture of the first area, the first planned trajectory is obtained, and the first planned trajectory is used to guide the first terminal to park in the adjusted first area.

9. The control method according to any one of claims 1 to 8, characterized in that, The control method further includes: The first terminal is controlled to travel along the first planned trajectory to park in the first area.

10. The control method according to any one of claims 1 to 9, characterized in that, The control method further includes: The control displays one or more of the following information: information about the first area, and information about the first planned trajectory.

11. The control method according to any one of claims 1 to 10, characterized in that, The first information comes from the first terminal, or the first information comes from the cloud.

12. The control method according to any one of claims 1 to 11, characterized in that, The control method further includes: The relevant information about the first terminal entering the first area based on the first planned trajectory is reported to the cloud.

13. The control method according to any one of claims 1 to 11, characterized in that, The control method further includes: The information of the first planned trajectory is sent to the first terminal.

14. A method for generating a parking area, characterized in that, The method for generating the parking area includes: Obtain second information, which includes the historical parking information of the first terminal and / or the historical parking information of the second terminal; Based on the second information, a first area is generated. The first area does not contain standard berths and is used for the first terminal to berth.

15. The method for generating a parking area according to claim 14, characterized in that, The standard berth includes any one or more of the following: berths with berth lines, spatial berths around the reference terminal, and mechanical berths.

16. The method for generating a parking area according to claim 14 or 15, characterized in that, The user information corresponding to the historical parking information of the second terminal is the same as the user information logged in on the first terminal.

17. The method for generating a parking area according to any one of claims 14 to 16, characterized in that, The historical parking information of the first terminal includes any one or more of the following: the historical parking location information of the first terminal, the historical parking trajectory information of the first terminal, and the historical parking environment information of the first terminal.

18. The method for generating a parking area according to any one of claims 14 to 17, characterized in that, The historical parking information of the second terminal includes any one or more of the following: the historical parking location information of the second terminal, the historical parking trajectory information of the second terminal, and the historical parking environment information of the second terminal.

19. The method for generating a parking area according to any one of claims 14 to 18, characterized in that, The method for generating the parking area also includes: Receive a first instruction, the first instruction being used to instruct adjustment of the parking posture of the first area; Based on the first instruction, adjust the parking posture of the first area.

20. A control device, characterized in that, Includes units for performing the method as described in any one of claims 1 to 13.

21. A control device, characterized in that, Includes a processor for performing the method as described in any one of claims 1 to 13.

22. A parking area generation device, characterized in that, Includes units for performing the method as described in any one of claims 14 to 19.

23. A parking area generation device, characterized in that, Includes a processor for performing the method as described in any one of claims 14 to 19.

24. A chip, characterized in that, It includes logic circuits and interfaces, wherein the logic circuits and the interfaces are coupled; The interface is used for inputting and / or outputting information, and the logic circuit is used for performing the method as claimed in any one of claims 1 to 13, or claims 14 to 19.

25. A terminal, characterized in that, Includes the control device as described in claim 20, or the control device as described in claim 21, or the parking area generation device as described in claim 22, or the parking area generation device as described in claim 23, or the chip as described in claim 24.

26. A server, characterized in that, Includes the control device as described in claim 20, or the control device as described in claim 21, or the parking area generation device as described in claim 22, or the parking area generation device as described in claim 23, or the chip as described in claim 24.

27. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, which, when executed, performs the method as claimed in any one of claims 1 to 13, or claims 14 to 19.

28. A computer program product, characterized in that, The computer program product includes a computer program that, when executed, performs the method as claimed in any one of claims 1 to 13, or claims 14 to 19.

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