Vehicle parking control method and related device

Abstract

The application discloses a vehicle parking control method and related equipment, and the method comprises the steps of: acquiring environment sensing data of the rear part of a vehicle during vehicle parking; judging whether the tail door opening space of the vehicle at a preset first parking position meets a preset opening condition based on the environment sensing data; if the tail door opening space of the vehicle at the first parking position does not meet the preset opening condition, controlling the vehicle to park into a second parking position, so that the tail door opening space of the vehicle at the second parking position meets the preset opening condition. The technical scheme provided by the application can improve the friendliness of vehicle automatic parking.

Description

Technical Field

[0001] This application belongs to the field of automatic vehicle parking technology, and particularly relates to a vehicle parking control method and related equipment. Background Technology

[0002] With the rapid development of automotive intelligent technology, automatic parking functions are becoming increasingly common, expanding from traditional semi-automatic parking assistance to various scenarios such as fully automatic parking and valet parking, which undoubtedly improves the convenience for drivers. However, existing automatic parking systems only focus on whether the vehicle itself can safely park in a space, completely neglecting the actual needs of passengers to easily open the tailgate to retrieve items after parking. Furthermore, while electric tailgate systems are gradually becoming standard equipment, their rear-mounted sensors are only used for the tailgate's own opening and closing control, without data sharing or deep collaboration with the automatic parking system. This independent control method often leads to users discovering that the tailgate cannot be opened properly only after parking, at which point the vehicle is already in its final parking position, potentially difficult to adjust due to limited front and rear space, severely impacting the user's parking experience.

[0003] Therefore, improving the user-friendliness of automatic parking has become an urgent technical problem to be solved. Summary of the Invention

[0004] The embodiments of this application provide a vehicle parking control method, apparatus, computer program product, computer-readable storage medium, and vehicle, which can at least to some extent improve the user-friendliness of automatic vehicle parking.

[0005] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0006] According to a first aspect of the present application, a vehicle parking control method is provided. The method includes: acquiring environmental perception data of the rear of the vehicle during parking; determining, based on the environmental perception data, whether the tailgate opening space of the vehicle at a preset first parking position meets the preset opening conditions; if the tailgate opening space of the vehicle at the first parking position does not meet the preset opening conditions, controlling the vehicle to park in a second parking position so that the tailgate opening space of the vehicle at the second parking position meets the preset opening conditions.

[0007] In some embodiments of this application, based on the foregoing scheme, determining whether the tailgate opening space of the vehicle at a preset first parking position meets preset opening conditions based on the environmental perception data includes: acquiring the length parameters of the vehicle tailgate, hinge position information, and tailgate opening angle; determining the outward swing envelope surface during the opening process of the vehicle tailgate based on the length parameters of the vehicle tailgate, hinge position information, and tailgate opening angle; identifying obstacle information behind the vehicle based on the environmental perception data; and determining whether the vehicle tailgate interferes with the rear obstacle when opening at the first parking position based on the outward swing envelope surface and the obstacle information.

[0008] In some embodiments of this application, based on the aforementioned scheme, the preset opening conditions include multi-level opening conditions, each level of opening condition corresponding to a different tailgate opening angle, and the method further includes: determining the corresponding preset opening conditions according to the tailgate opening angle selected by the user.

[0009] In some embodiments of this application, based on the foregoing scheme, before controlling the vehicle to park in the second parking position, the method further includes: outputting a prompt message to the user via a pop-up window on the central control display screen, a voice synthesis device, or a mobile terminal application indicating insufficient tailgate opening space, and providing an option to reserve space for retrieving items; in response to receiving a user's selection instruction for the option, determining whether to control the vehicle to park in the second parking position based on the selection instruction.

[0010] In some embodiments of this application, based on the foregoing scheme, before controlling the vehicle to park in the second parking position, the method further includes: acquiring the user's historical retrieval habit data; predicting the user's retrieval needs in the current parking scenario based on the historical retrieval habit data; and determining whether to control the vehicle to park in the second parking position based on the prediction result.

[0011] In some embodiments of this application, based on the foregoing scheme, controlling the vehicle to park in the second parking position includes: calculating the minimum safe distance between the vehicle's tailgate and a rear obstacle when the tailgate is closed, based on the length parameter and opening angle of the tailgate; determining the target direction and target distance of the vehicle to be moved in the current location based on the minimum safe distance and the actual distance between the vehicle's tailgate and the rear obstacle; and controlling the vehicle to park in the second parking position according to the target direction and the target distance.

[0012] In some embodiments of this application, based on the foregoing scheme, controlling the vehicle to park in the second parking position includes: acquiring parking space line information of the target parking space; determining the adjustable range of the vehicle based on the parking space line information; and controlling the vehicle to park in the second parking position within the adjustable range.

[0013] In some embodiments of this application, based on the foregoing scheme, after the vehicle is parked in the second parking position, the method further includes: detecting the change in the state of the vehicle's tailgate; if it is detected that the vehicle's tailgate has switched from an open state to a closed state and there are no people around the vehicle, or if it is detected that the duration of the vehicle's tailgate in the closed state reaches a preset duration and there are no people around the vehicle, then outputting an inquiry message to the user asking whether to continue parking in the first parking position; in response to receiving the user's instruction to confirm parking in the first parking position, controlling the vehicle to park from the second parking position to the first parking position.

[0014] In some embodiments of this application, based on the foregoing scheme, after the vehicle is parked in the second parking position, the method further includes: detecting the change in the state of the vehicle's tailgate; if it is detected that the vehicle's tailgate has switched from an open state to a closed state and there are no people around the vehicle, or if it is detected that the duration of the vehicle's tailgate in the closed state reaches a preset duration and there are no people around the vehicle, then it is detected whether the automatic parking switch is in the open state; if it is detected that the automatic parking switch is in the open state, then it controls the vehicle to park from the second parking position to the first parking position.

[0015] According to a second aspect of the embodiments of this application, a vehicle parking control device is provided. The device includes: an acquisition unit, configured to acquire environmental perception data of the rear of the vehicle during parking; a judgment unit, configured to determine, based on the environmental perception data, whether the tailgate opening space of the vehicle at a preset first parking position meets preset opening conditions; and a control unit, configured to control the vehicle to park in a second parking position if the tailgate opening space of the vehicle at the first parking position does not meet the preset opening conditions, so that the tailgate opening space of the vehicle at the second parking position meets the preset opening conditions.

[0016] According to a third aspect of the embodiments of this application, a computer program product is provided, the computer program product including computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform an operation as described in any of the first aspects above.

[0017] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, the computer-readable storage medium storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by a processor to perform the operation as described in any of the first aspects above.

[0018] According to a fifth aspect of the embodiments of this application, a vehicle is provided, the vehicle including one or more processors and one or more memories, the one or more memories storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by the one or more processors to perform the operation as described in any of the first aspects above.

[0019] Based on the technical solution proposed in this application, environmental perception data of the rear of the vehicle is acquired during the parking process. Based on this data, the system pre-determines whether the tailgate opening space at the preset first parking position meets the preset opening conditions. If the determination result is that the conditions are not met, the system automatically controls the vehicle to park in the second parking position, ensuring that the tailgate opening space at the second parking position meets the preset opening conditions. This method allows for advance prediction of whether the tailgate can be opened normally during parking and automatically adjusts the parking termination position when space is insufficient. This avoids the problem of traditional automatic parking systems focusing only on whether the vehicle can fit in the parking space while ignoring the tailgate opening requirement, fundamentally solving the embarrassing situation where users find their trunk cannot be opened after parking. Furthermore, the entire adjustment process is completed automatically by the system, without requiring manual intervention or repositioning the vehicle, making the parking process smoother and more natural. This solution, which incorporates tailgate opening space requirements into parking control considerations, effectively improves the user-friendliness and intelligence of automatic parking, allowing users to enjoy the convenience of automatic parking without worrying about subsequent item retrieval, thus significantly enhancing the user experience. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings: Figure 1 A flowchart of a vehicle parking control method according to an embodiment of this application is shown; Figure 2 A block diagram of a vehicle parking control device according to an embodiment of this application is shown; Figure 3 A schematic diagram of the vehicle structure in an embodiment of this application is shown. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0023] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices. It should also be noted that, for the sake of simplicity, certain components in the drawings that do not affect the interpretation of the technical solution of this application have been appropriately omitted.

[0024] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined. Therefore, the actual execution order may change depending on the actual situation.

[0025] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0026] This application proposes a vehicle parking control scheme, the purpose of which is to improve the user-friendliness of automatic vehicle parking and thus enhance the user experience.

[0027] Next, this application will elaborate on the proposed vehicle parking control scheme. (Refer to...) Figure 1The flowchart of a vehicle parking control method according to an embodiment of this application is shown. This method can be executed by a device with computing processing capabilities, such as... Figure 1 As shown, the method includes at least steps 110 to 130, which are described in detail below: In step 110, environmental perception data of the rear of the vehicle is acquired during the parking process.

[0028] In this application, the vehicle parking process can refer to the entire process of the automatic parking system controlling the vehicle to move from its current position to the target parking space, or it can refer to the stage after the vehicle enters the area of ​​the target parking space and begins to park. The environmental perception data can include information such as the distribution, distance, size, and shape of obstacles within a certain range behind the vehicle. This information can be used to subsequently assess whether a collision with obstacles will occur when the tailgate opens. In practical applications, the acquisition of environmental perception data can be performed in real time or periodically at preset time intervals, which can be flexibly configured according to the performance of the sensors and the computing power of the system. By continuously acquiring environmental perception data behind the vehicle during the parking process, the changes in the rear space can be monitored in real time, providing an accurate data basis for subsequent tailgate opening space assessment and avoiding deviations in assessment results due to environmental changes.

[0029] This application provides timely and accurate information support for assessing the tailgate opening space by acquiring environmental perception data of the rear in real time during vehicle parking. This allows the system to determine in advance whether the tailgate can be opened normally during parking, avoiding the embarrassing situation of finding that the tailgate cannot be opened only after the vehicle has been parked in the parking space, and effectively improving the user experience of automatic parking.

[0030] In such Figure 1 In step 110 shown, acquiring environmental perception data of the rear of the vehicle during parking can be performed as follows: Step 111: Collect environmental information about the rear of the vehicle using the rear sensing sensors of the vehicle. The rear sensing sensors include at least one of ultrasonic radar, camera, and direct time-of-flight radar.

[0031] In this application, the rear perception sensor can be various environmental perception devices installed at the rear of the vehicle to detect obstacles and spatial conditions behind the vehicle. Ultrasonic radar measures the distance to obstacles by emitting ultrasonic waves and receiving echoes, offering advantages such as low cost and mature technology, making it suitable for short-range obstacle detection. Cameras can identify the shape and position of obstacles by capturing images and performing image processing, providing rich visual information for easy identification of different types of obstacles. Direct Time of Flight (DTOF) radar acquires three-dimensional information about obstacles by emitting laser pulses and measuring their flight time, featuring high ranging accuracy, fast response speed, and strong anti-interference capabilities, and can generate high-precision three-dimensional point cloud data. In practical applications, one type of sensor can be selected based on the vehicle's configuration, or multiple sensors can be combined through multi-sensor fusion to improve the accuracy and reliability of perception. For example, ultrasonic radar and cameras can be used simultaneously, leveraging the precise ranging capability of ultrasonic radar and the image recognition capability of cameras to achieve comprehensive perception of the rear environment.

[0032] This application uses a variety of optional rear perception sensors to collect environmental information at the rear of the vehicle, which can adapt to the needs of vehicles with different configuration levels. This makes the solution highly compatible and scalable. It can implement basic functions based on existing sensors, or improve performance by upgrading the sensors, thereby reducing the implementation cost and threshold of the solution.

[0033] In step 111 above, if the rear sensing sensor is a direct time-of-flight radar, the acquisition of environmental information at the rear of the vehicle using the rear sensing sensor can be performed according to steps 1111 to 1113 as follows: Step 1111: Collect three-dimensional point cloud data of the rear of the vehicle using the direct time-of-flight radar, and identify the outline, height, and distance information of obstacles behind the vehicle based on the three-dimensional point cloud data.

[0034] Step 1112: Identify low obstacles at the rear of the vehicle based on the three-dimensional point cloud data, and determine whether the low obstacles are traversable obstacles.

[0035] Step 1113: If the low obstacle is a traversable obstacle, then the traversable obstacle is ignored when assessing the tailgate opening space.

[0036] In this application, the 3D point cloud data refers to a dataset composed of a large number of spatial points, each containing 3D coordinate information, which can accurately reflect the shape and spatial position of an object. Direct time-of-flight radar (DTNF) can achieve ranging accuracy at the centimeter level, for example, less than or equal to 2 centimeters, and a frame rate of over 20 Hz, thus generating high-density, high-precision 3D point cloud data. Based on this point cloud data, point cloud processing algorithms can be used to identify the outline shape, height, and distance information of obstacles behind the vehicle. Compared with traditional ultrasonic radar, DTNF can not only measure distance but also accurately identify the height and outline of obstacles, showing better recognition performance for low or irregularly shaped obstacles. For example, ultrasonic radar may not be able to accurately identify the height and specific shape of low obstacles such as curbs or curb stones, or irregular objects such as pillars or bushes, while DTNF can accurately measure their height and outline using 3D point cloud data, thus providing a more reliable basis for subsequent spatial assessment.

[0037] In this application, the term "low-lying obstacle" refers to an obstacle with a low height and located near the ground, such as parking space limit bars, curbs, speed bumps, etc. A traversable obstacle refers to an obstacle whose height is lower than the lowest point when the tailgate is open, and which will not obstruct the opening of the tailgate. In practical applications, the height of the obstacle can be measured using 3D point cloud data and compared with a preset height threshold to determine whether the obstacle is traversable. The preset height threshold can be set according to the structural parameters of the tailgate, for example, it can be set as the height of the lowest point of the tailgate from the ground when it is fully open. If the height of the obstacle is lower than this threshold, it means that the tailgate will not encounter the obstacle when opening, and it can be determined as a traversable obstacle. Conversely, if the height of the obstacle is higher than this threshold, it means that the tailgate may encounter the obstacle when opening, and it needs to be determined as an insurmountable obstacle.

[0038] In this application, when a low-lying obstacle is determined to be a passable obstacle, it means that the obstacle will not affect the normal opening of the tailgate. Therefore, it can be ignored when subsequently assessing the tailgate opening space and is not included in the scope of obstacle consideration. This avoids unnecessary adjustments to the parking position due to misjudging low-lying obstacles, thereby improving parking efficiency and space utilization. For example, when there is a limit bar behind the parking space, if the limit bar is low enough that the tailgate will not hit the limit bar when fully opened, then the existence of the limit bar can be ignored, and the vehicle can be parked in the normal parking position without needing to reserve extra space to avoid the limit bar.

[0039] This application utilizes direct time-of-flight radar to acquire 3D point cloud data and identifies the contours, height, and distance information of obstacles based on this data. This significantly improves the accuracy and precision of rear-view perception, particularly for low-lying and irregular obstacles. Furthermore, by determining whether low-lying obstacles are traversable and ignoring traversable ones, unnecessary parking position adjustments can be avoided. This maximizes the utilization of parking space while ensuring safe tailgate opening, improving parking efficiency and user experience.

[0040] Continue to refer to Figure 1 In step 120, based on the environmental perception data, it is determined whether the tailgate opening space of the vehicle at the preset first parking position meets the preset opening conditions.

[0041] In this application, the first parking position can refer to the final parking position originally planned by the automatic parking system, that is, the target position after the vehicle is fully parked in the parking space. The preset opening condition can refer to the spatial conditions required for the tailgate to open normally, such as ensuring that the tailgate will not collide with obstacles behind it when opened to its maximum angle. During the parking process, based on real-time acquired environmental perception data, it can predict in advance whether there is enough space behind the tailgate to open normally when the vehicle is parked in the first parking position. If the prediction result shows that there is enough space, it means that the preset opening condition is met, and the vehicle can be parked normally in the first parking position. If the prediction result shows that there is insufficient space, it means that the preset opening condition is not met, and corresponding adjustment measures need to be taken. By making judgments in advance during the parking process, problems can be detected before the vehicle is parked in the final position, thus allowing sufficient time for adjustments and avoiding the situation where the tailgate cannot be opened only after parking.

[0042] This application uses environmental perception data to determine in advance whether the tailgate opening space of the vehicle in the first parking position meets the preset opening conditions. It can detect the problem of insufficient tailgate opening space in time during the parking process, thereby providing a basis for subsequent parking position adjustment and avoiding the embarrassing situation of finding that the tailgate cannot be opened only after the vehicle is parked in the parking space. This effectively improves the intelligence level of automatic parking and the user experience.

[0043] In this application, the following step 112 can be performed: Step 112: When the distance between the vehicle and the first parking position meets the preset distance range, determine whether the tailgate opening space of the vehicle at the first parking position meets the preset opening conditions.

[0044] In this application, the preset distance range refers to the distance range between the vehicle and the first parking position. When the vehicle enters this distance range, the system initiates the process of determining the tailgate opening space. The preset distance range can be set according to actual needs, for example, it can be set to a range of 1 to 3 meters. The reason for setting such a distance range is that if the distance is too far, the accuracy of the environmental perception data may be affected, resulting in an inaccurate judgment result. If the distance is too close, there may not be enough time to adjust, affecting the smoothness of parking. Within a distance range of 1 to 3 meters, the rear perception sensor can usually provide relatively accurate rear environmental data, while the vehicle also has enough adjustment space to complete the position adjustment without affecting the parking experience. In practical applications, the specific value of the preset distance range can be flexibly adjusted according to factors such as sensor performance, vehicle braking performance, and parking speed.

[0045] This application determines the tailgate opening space only when the distance between the vehicle and the first parking position meets a preset distance range. This ensures the accuracy of the determination, avoids wasting computational power by starting the determination process too early, and allows sufficient space and time for subsequent position adjustments, thereby improving the smoothness of the entire parking process and the user experience.

[0046] In such Figure 1 In step 120, the step of determining whether the tailgate opening space of the vehicle at the preset first parking position meets the preset opening conditions based on the environmental perception data can be performed according to the following steps 121 to 123: Step 121: Obtain the length parameters, hinge position information, and tailgate opening angle of the vehicle tailgate, and determine the outer swing envelope surface during the opening process of the vehicle tailgate based on the length parameters, hinge position information, and tailgate opening angle.

[0047] Step 122: Identify obstacle information at the rear of the vehicle based on the environmental perception data.

[0048] Step 123: Based on the outer swing envelope and the obstacle information, determine whether the vehicle tailgate interferes with the obstacle behind it when it is opened in the first parking position.

[0049] In this application, the tailgate length parameter can refer to the length of the tailgate from the hinge axis to the outer edge of the tailgate. This parameter is usually an inherent parameter of the vehicle and can be pre-stored in the vehicle's configuration information. The hinge position information can refer to the installation position of the tailgate hinge on the vehicle body, which can also be obtained from the vehicle configuration information. The tailgate opening angle can refer to the angle between the tailgate's open and closed states, such as a maximum opening angle of 90 degrees, or other angles set by the user. The outer swing envelope surface can refer to the spatial curved surface swept by the outer edge of the tailgate during the process of opening the tailgate from the closed state to the target angle. This curved surface represents the spatial range required during the tailgate opening process. By establishing a kinematic model of the tailgate, the outer swing envelope surface of the tailgate can be accurately calculated based on the tailgate length, hinge position, and opening angle. In practical applications, the outer swing envelope surface can be pre-calculated and stored in the vehicle configuration information, or it can be calculated and generated in real time based on the opening angle selected by the user.

[0050] In this application, the obstacle information may include the obstacle's location, size, shape, and other information. Based on the acquired environmental perception data, all obstacles behind the vehicle can be identified using corresponding perception algorithms, and the spatial position and geometry of each obstacle can be determined. If ultrasonic radar is used, distance information of the obstacles can be obtained, and combined with the radar's installation location, the approximate orientation of the obstacles can be determined. If a camera is used, the shape and relative position of the obstacles can be obtained through image recognition algorithms. If a direct time-of-flight radar is used, precise three-dimensional coordinates and contour information of the obstacles can be obtained through three-dimensional point cloud data. Different sensor solutions can provide obstacle information of varying precision, thereby meeting different levels of needs.

[0051] In this application, after obtaining the tailgate's outer swing envelope and obstacle information, both can be placed in the same coordinate system for spatial collision detection. This allows for determination of whether the tailgate will interfere with obstacles during opening when the vehicle is parked in the first parking position. Specifically, the spatial position and shape of the obstacle can be compared with the outer swing envelope. If any part of the obstacle enters the range of the outer swing envelope, it indicates that the tailgate will collide with the obstacle when opening, meaning the tailgate opening space does not meet the preset opening conditions. Conversely, if the obstacle is entirely outside the range of the outer swing envelope, it indicates that the tailgate can be opened safely, meeting the preset opening conditions. This spatial geometry-based judgment method can accurately assess the safety of tailgate opening.

[0052] This application establishes an outer swing envelope surface for tailgate opening and combines obstacle information to make spatial interference judgments. It can accurately assess whether the tailgate can be safely opened when the vehicle is in the first parking position, thereby providing a reliable basis for adjusting the parking position and avoiding tailgate collisions or unnecessary position adjustments due to misjudgment, effectively improving the accuracy and reliability of the solution.

[0053] In this application, the preset opening conditions may include multiple levels of opening conditions, each level of opening condition corresponding to a different tailgate opening angle. Based on this, the corresponding preset opening conditions can be determined according to the tailgate opening angle selected by the user.

[0054] In this application, the multi-level opening conditions can refer to multiple sets of space requirements corresponding to different tailgate opening angles. The larger the opening angle, the larger the space required, and the more stringent the opening conditions. For example, three levels of opening conditions can be set, corresponding to tailgate openings of 30 degrees, 60 degrees, and 90 degrees, respectively. Users can choose the appropriate opening angle according to their actual needs. If only small items are being retrieved, a smaller opening angle can be selected, requiring less space and allowing the vehicle to be parked further inside. If larger items are being retrieved, a larger opening angle can be selected, requiring correspondingly more space. The system will determine the corresponding preset opening conditions based on the user's selected opening angle and evaluate the tailgate opening space and adjust the parking position accordingly. In practical applications, the number of opening angle levels and their specific values ​​can be flexibly set according to actual needs.

[0055] This application sets up multiple opening conditions and determines the corresponding preset opening conditions based on the tailgate opening angle selected by the user. This can meet the retrieval needs of different users in different scenarios, making the adjustment of parking positions more refined and personalized. Thus, while ensuring retrieval space, it minimizes the occupation of parking space and improves the flexibility and applicability of the solution.

[0056] Continue to refer to Figure 1 In step 130, if the tailgate opening space of the vehicle in the first parking position does not meet the preset opening conditions, the vehicle is controlled to park in the second parking position so that the tailgate opening space of the vehicle in the second parking position meets the preset opening conditions.

[0057] In this application, the second parking position can refer to a parking position adjusted to allow space for the tailgate to open. This position is usually slightly forward than the first parking position, so that the distance between the rear of the vehicle and any obstacles behind it is greater, thus providing sufficient space for the tailgate to open. When the system determines that the tailgate opening space is insufficient in the first parking position, it will automatically adjust the parking stop position to park the vehicle in the second parking position to ensure that the tailgate can be opened normally. The determination of the second parking position needs to comprehensively consider the space required for the tailgate to open and the actual situation of the obstacles behind it, ensuring that the need for tailgate opening is met without excessively occupying the space in front of the parking space. In this way, parking can be completed in one go, eliminating the need for the user to manually move the vehicle later, greatly improving parking efficiency and convenience.

[0058] This application controls the vehicle to park in a second parking position when there is insufficient space to open the tailgate, ensuring that the tailgate can be opened normally after the vehicle is parked. This solves the problem that traditional automatic parking only focuses on whether the vehicle can be parked in the parking space and ignores the tailgate opening requirement, avoiding the embarrassment of users finding that the tailgate cannot be opened after parking the car, and effectively improving the user-friendliness and user experience of automatic parking.

[0059] In this application, before controlling the vehicle to park in the second parking position, the following steps 124 to 125 can be performed: Step 124: Output a prompt message to the user that there is insufficient space to open the tailgate through a pop-up window on the central control display screen, a voice synthesis device, or a mobile terminal application, and provide an option to reserve space for retrieving items.

[0060] Step 125: In response to receiving a user's selection instruction for the option, determine whether to control the vehicle to park in the second parking position based on the selection instruction.

[0061] In this application, when the system detects insufficient space to open the tailgate at the first parking position, it can notify the user in several ways. A pop-up window on the central control display screen is an intuitive notification method, displaying text information on the screen along with clickable option buttons for easy user selection. A voice synthesis device can deliver the notification via voice broadcast, allowing the user to understand the situation without looking at the screen, making it safer and more convenient. A mobile application can send notifications to the user via their mobile phone, ensuring timely notification even when the user is not in the vehicle. The notification information may include explanations such as insufficient rear space detected, and that the trunk cannot be opened if parking continues, along with an option to allow for retrieving items. In practical applications, multiple notification methods can be used simultaneously to ensure the user receives information promptly.

[0062] After receiving the prompt, users can make a choice based on their actual needs. If the user needs to retrieve or place items and requires the use of the trunk, they can choose the option to reserve retrieval space. Upon receiving this selection, the system will control the vehicle to park in the second parking position, reserving sufficient space for the tailgate to open. If the user does not currently need to use the trunk, or believes that even if the tailgate cannot be fully opened, it will not affect usability, they can choose not to reserve retrieval space, and the system will park the vehicle in the first parking position as originally planned. Through this human-computer interaction, users can participate in the decision-making process. The system will not arbitrarily adjust the parking position but will respect the user's choice, thereby improving the user experience and their trust in the system.

[0063] This application provides users with prompts and options before adjusting the parking position, allowing users to decide whether to reserve space for retrieving items based on their own needs. This fully respects users' wishes, avoids the inconvenience caused by the system arbitrarily adjusting the position, and also meets users' actual needs for retrieving items. Thus, while ensuring users' right to choose, it improves the intelligence and humanization of automatic parking.

[0064] In this application, before controlling the vehicle to park in the second parking position, steps 126 to 128 may also be performed: Step 126: Obtain the user's historical item retrieval habits data.

[0065] Step 127: Based on the historical item retrieval habit data, predict the user's item retrieval needs in the current parking scenario.

[0066] Step 128: Determine whether to control the vehicle to park in the second parking position based on the prediction result.

[0067] In this application, the historical item retrieval habit data refers to records of a user's item retrieval behavior during past vehicle use, such as when, where, and in what scenarios the user uses the trunk, the frequency of use, and the angle at which it is typically opened. This data can be recorded and accumulated through the vehicle's sensor system, for example, recording the time, location, opening angle, and duration of each tailgate opening. As usage time increases, a large amount of user behavior data can be accumulated, allowing for the analysis of the user's item retrieval habits and patterns. For instance, the system might discover that a user typically retrieves items from the trunk after returning home from get off work, or frequently uses the trunk after parking in a shopping mall parking lot.

[0068] After acquiring users' historical item retrieval habits, machine learning algorithms or rule-based matching can be used to predict users' retrieval needs in the current parking scenario. For example, information such as the current time, location, and parking duration can be compared with historical data to determine the likelihood of the user using the trunk in the current situation. If historical data shows that users typically use the trunk at similar times and locations, then it can be predicted that the user currently has a need to retrieve items. Conversely, if historical data shows that users rarely use the trunk in similar scenarios, it can be predicted that the user currently does not have a need to retrieve items. The accuracy of the prediction will continuously improve as historical data accumulates.

[0069] If the prediction indicates that the user needs to retrieve an item, the system can automatically park the vehicle in the second parking space, reserving space for the user in advance, eliminating the need for manual operation. If the prediction indicates that the user does not need to retrieve an item, the system will park the vehicle in the first parking space as planned, maximizing the utilization of the parking space. This intelligent prediction method enables more automated parking control, reduces user steps, and improves convenience. Of course, to avoid inconvenience caused by prediction errors, the system can also prompt the user while automatically adjusting and provide an option to cancel the adjustment.

[0070] This application obtains users' historical retrieval habits data and predicts retrieval needs in the current scenario. Based on the prediction results, it automatically determines whether to adjust the parking position, which can achieve more intelligent and personalized parking control, reduce manual operation by users, and thus further improve the convenience and user experience of automatic parking.

[0071] In such Figure 1 In step 130 shown, controlling the vehicle to park in the second parking position can be performed according to steps 131 to 133 as follows: Step 131: Calculate the minimum safe distance between the vehicle tailgate and the obstacle behind it when the tailgate is closed, based on the length parameter and opening angle of the tailgate.

[0072] Step 132: Based on the minimum safe distance and the actual distance between the vehicle's tailgate and the obstacle behind it, determine the target direction and target distance of the vehicle to be moved.

[0073] Step 133: According to the target direction and the target distance, control the vehicle to park in the second parking position.

[0074] In this application, the minimum safe distance refers to the minimum distance that must be maintained between the rear of the vehicle and any obstacle behind it to ensure the tailgate can be opened safely. This distance can be calculated based on the tailgate's length and opening angle. When the tailgate opens, its outer edge swings backward and outward, so sufficient distance needs to be reserved between the rear of the vehicle and the obstacle to accommodate the tailgate's swing. The calculation of the minimum safe distance needs to consider the maximum distance the outer edge extends backward when the tailgate is opened to its maximum angle, plus a certain safety margin to ensure absolute safety. In practical applications, the tailgate's length can be obtained from the vehicle configuration information, and the tailgate opening angle can be the default maximum opening angle or adjusted according to the user's selection.

[0075] After calculating the minimum safe distance, it can be compared with the actual distance between the rear of the vehicle and the obstacle behind it to determine the direction and distance the vehicle needs to adjust. If the current actual distance is less than the minimum safe distance, it means there is insufficient space for the tailgate to open at the current position, and the vehicle needs to be moved forward by the difference between the minimum safe distance and the actual distance. If the current actual distance is greater than or equal to the minimum safe distance, it means the current position meets the requirements for opening the tailgate, and no further adjustment is needed. The target direction is usually forward because vehicles typically reverse during parking, and the further back the vehicle reverses, the closer the rear is to the obstacle; therefore, moving forward is necessary to increase the distance between the rear and the obstacle.

[0076] After determining the target direction and distance, the vehicle's drive, braking, and steering systems can be controlled to precisely move the vehicle according to the calculated direction and distance, parking it in the second parking position. Once the vehicle is stopped, the distance between the rear and any obstacles behind should be approximately equal to the minimum safe distance. This ensures the tailgate can be opened safely without wasting excessive space. To guarantee parking accuracy, the distance between the rear and obstacles can be continuously monitored during movement, with real-time adjustments and corrections made to ensure the final parking position is accurate. After the vehicle stops, a notification can be sent to the user via the central control screen or external speakers, informing them that sufficient space has been reserved for retrieving items and that the trunk can be opened.

[0077] This application calculates the minimum safe distance based on the tailgate parameters, determines the direction and distance of adjustment based on the actual distance, and then precisely controls the vehicle to park in the second parking position. This allows for precise adjustment of the parking position, ensuring that the tailgate opening space just meets the requirements. It avoids situations where the tailgate cannot be opened due to insufficient reserved space, or where parking space is wasted due to excessive reserved space, thereby maximizing the space utilization of the parking space while ensuring safety.

[0078] In this application, the minimum safe distance between the vehicle's tailgate and a rear obstacle when the tailgate is closed is calculated based on the length parameter and opening angle of the tailgate. This minimum safe distance can be calculated using the following formula:

[0079] in, The minimum safe distance, The length parameter of the vehicle's tailgate. The tailgate opening angle of the vehicle is [insert angle here]. This is a preset safety margin.

[0080] In this application, the principle of the above formula is based on the kinematic model of the tailgate when it is open. The tailgate rotates around the hinge axis, and when it is opened to its maximum angle, the distance that the outer edge of the tailgate extends backward in the horizontal direction is equal to the tailgate length multiplied by the sine of the opening angle. Based on this, adding a certain safety margin, the minimum safe distance is obtained. Each parameter in the formula has a clear physical meaning. It is the length of the tailgate, which is the straight-line distance from the hinge axis to the outer edge of the tailgate. It is the target opening angle of the tailgate. The larger the angle, the larger the sine value, and the greater the required safety distance. This is a preset safety margin used to offset the effects of sensor measurement errors, vehicle control errors, and various uncertainties, ensuring that the tailgate will never encounter obstacles when opening. The value of the safety margin can be set according to actual needs, for example, it can be set to 0.1 meters. Using this simple geometric formula, the required minimum safe distance can be calculated quickly and accurately, with high computational efficiency and ease of real-time application.

[0081] This application uses the above formula to calculate the minimum safe distance, which can quickly and accurately determine the safe distance required for tailgate opening based on simple geometric relationships. The calculation process is simple and efficient, and it is easy to run in real time in the vehicle system. At the same time, the calculation results are accurate and reliable, which can provide a precise basis for adjusting the parking position, thereby ensuring the safety of tailgate opening and the rationality of the parking position.

[0082] In this application, the following step 134 can be performed: Step 134: The tailgate opening space requirement is used as a constraint and jointly optimized with the parking path planning to generate a parking path that meets the vehicle tailgate opening space requirement.

[0083] Traditional parking path planning typically only considers the vehicle's dimensions and the distribution of surrounding obstacles, aiming to park the vehicle safely in a parking space. In this application, however, the space requirement for tailgate opening can be added as a constraint to the path planning process, and jointly optimized with other constraints. This way, the tailgate opening requirement is considered during the parking path planning stage, and the planned path will ultimately park the vehicle in a position that allows for both safe parking and tailgate opening. Compared to planning the path first and then adjusting the ending position, the joint optimization approach considers the problem from a global perspective, resulting in a more reasonable path and a smoother parking process, eliminating the need for additional adjustments in the final stage. In practical applications, model predictive control or optimization algorithms can be used to solve constrained path planning problems.

[0084] This application optimizes the tailgate opening space requirement as a constraint in conjunction with parking path planning. This allows the tailgate opening requirement to be taken into account during the path planning stage, thereby generating a more reasonable parking path. This makes the entire parking process smoother and more natural, avoiding the abruptness caused by adjusting the position later in the parking process, and further improving the user experience of automatic parking.

[0085] In this application, the following step 135 can be performed: Step 135: If an obstacle is detected entering the opening trajectory range of the vehicle tailgate based on the environmental perception data, then the opening angle of the vehicle tailgate is limited or the vehicle tailgate is stopped from opening.

[0086] In this application, during the tailgate opening process, the rear sensing sensor continuously monitors the rear environment, detecting in real time whether any new obstacles enter the tailgate's opening trajectory. These obstacles can be suddenly appearing objects, approaching people, or animals. If an obstacle is detected entering the tailgate's opening trajectory, potentially colliding with the opening tailgate, the system immediately takes appropriate safety measures. One measure is to limit the tailgate's opening angle, stopping it at the current angle to avoid collision with the obstacle. Another measure is to directly control the tailgate to stop opening, or even control it to close in the opposite direction to ensure safety. The specific measure taken can be determined based on factors such as the obstacle's distance and speed. This real-time monitoring and proactive intervention provides additional safety assurance for tailgate opening.

[0087] This application continuously monitors the rear environment during the tailgate opening process and limits the opening angle or stops opening when an obstacle is detected entering the opening trajectory. This effectively prevents accidental collisions with obstacles or people during tailgate opening, thereby improving the safety of tailgate use and providing users with a more reliable user experience.

[0088] In such Figure 1 In step 130 shown, controlling the vehicle to park in the second parking position can be performed according to steps 136 to 138 as follows: Step 136: Obtain the parking line information of the target parking space.

[0089] Step 137: Determine the adjustable range of the vehicle based on the parking space line information.

[0090] Step 138: Control the vehicle to park in the second parking position within the adjustable range.

[0091] In this application, the parking space line information refers to the position and shape information of the boundary lines of the target parking space. Parking space line information can be obtained through the vehicle's surround-view camera or other visual sensors. Image recognition algorithms can detect the four side lines of the parking space, thereby determining the accurate location and range of the parking space. In automatic parking systems, parking space line recognition is typically a basic function used to determine the location of the target parking space and the area where the vehicle needs to park.

[0092] After obtaining the parking space line information, the adjustable range of the vehicle within the parking space can be determined. The adjustable range refers to the maximum distance the vehicle can move forward or backward while remaining fully parked within the space. In other words, the front of the vehicle cannot extend beyond the front boundary of the parking space, and the rear of the vehicle cannot extend beyond the rear boundary. Since the second parking position is further forward than the first, it is necessary to ensure that after moving forward, the front of the vehicle remains within the front boundary of the parking space and does not cross the parking line. If the forward movement is too large, causing the front of the vehicle to extend beyond the parking line, it will affect the use of adjacent parking spaces or violate parking regulations. Therefore, the maximum forward distance the vehicle can move needs to be calculated based on the position of the parking space lines, which serves as the adjustable range.

[0093] After determining the adjustable range, the system needs to limit the vehicle's movement distance within this range when adjusting the parking position, ensuring that the entire vehicle remains within the parking space lines when parked in the second parking position. If the calculated second parking position exceeds the adjustable range—meaning that even if the vehicle is moved forward to the very front of the parking space, there is still insufficient space to open the tailgate—the system can alert the user, informing them that the parking space is too small to simultaneously meet the needs of parking and tailgate opening, and suggesting that the user find another parking space or take other measures. The constraints of the parking space lines ensure that the adjusted vehicle remains properly parked within the space, without obstructing the passage or parking of other vehicles.

[0094] This application obtains parking space line information and determines the adjustable range of the vehicle. Within the adjustable range, it controls the vehicle to park in the second parking position. While reserving space for the tailgate to open, it ensures that the vehicle is still completely parked within the parking space lines and will not cause the vehicle to exceed the parking space and affect others due to the adjustment of the parking position, thereby ensuring the standardization and rationality of parking.

[0095] In such Figure 1 After step 130, i.e., after the vehicle is parked in the second parking position, steps 141 to 143 can be performed as follows: Step 141: Detect the change in the state of the vehicle's tailgate.

[0096] Step 142: If it is detected that the vehicle tailgate has switched from an open state to a closed state and there are no people around the vehicle, or if it is detected that the vehicle tailgate has been in the closed state for a preset duration and there are no people around the vehicle, then output an inquiry to the user asking whether to continue parking in the first parking position.

[0097] Step 143: In response to receiving the user's confirmation instruction to park in the first parking position, control the vehicle to park from the second parking position to the first parking position.

[0098] In this application, after the vehicle is parked in the second parking position, the tailgate's status can be continuously monitored to determine whether the user has completed the retrieval operation. Tailgate status changes can include changing from a closed state to an open state, and vice versa. These status changes can be detected by sensors on the tailgate, such as position sensors and Hall effect sensors. By monitoring tailgate status changes, the user's use of the trunk can be understood.

[0099] When the tailgate changes from open to closed, it indicates the user has likely retrieved their item. Simultaneously, sensors around the vehicle detect any remaining pedestrians, ensuring they are in a safe area. Once the tailgate is confirmed closed and no one is around, a prompt can be made to the user asking if they wish to continue parking in the first parking spot. Alternatively, if the tailgate remains closed for a preset duration, it can be assumed the user does not need the trunk, and a prompt can be made again. The preset duration can be set according to specific needs, such as 30 seconds or 1 minute. The prompt can be displayed on the central control screen or delivered via voice, asking the user if they wish to continue parking further into the space to maximize space utilization.

[0100] If the user chooses to continue parking, a confirmation command will be received, and the vehicle will then move backward from the second parking position to the originally planned first parking position. Since the user has already retrieved their item and no longer needs to use the tailgate, the vehicle can be parked as far inward as possible, maximizing the utilization of the parking space and preventing it from obstructing passage. If the user chooses not to continue parking, or does not respond within the specified time, the vehicle will remain in the second parking position, and the parking process will end. This two-stage parking method satisfies the user's need to retrieve their item without sacrificing the space utilization of the parking space.

[0101] This application detects the tailgate status and surrounding personnel after the vehicle is parked in the second parking position, and asks whether the user wants to continue parking in the first parking position after confirming that the user has retrieved the item. This allows the vehicle to be parked in the optimal position according to the user's wishes while meeting the user's needs for retrieving the item. This ensures both the convenience of retrieving the item and the maximum utilization of the parking space, providing users with a more flexible and user-friendly parking experience.

[0102] In such Figure 1 After step 130, i.e., after the vehicle is parked in the second parking position, steps 144 to 146 can be performed as follows: Step 144: Detect the change in the state of the vehicle's tailgate.

[0103] Step 145: If it is detected that the vehicle tailgate has switched from an open state to a closed state and there are no people around the vehicle, or if it is detected that the vehicle tailgate has been in the closed state for a preset duration and there are no people around the vehicle, then it is detected whether the automatic parking switch is in the open state.

[0104] Step 146: If the automatic parking switch is detected to be in the on state, control the vehicle to park from the second parking position to the first parking position.

[0105] In this application, similar to the aforementioned embodiments, after the vehicle is parked in the second parking position, the state changes of the tailgate can be continuously monitored to determine whether the user's item retrieval operation has been completed. The tailgate state detection can be achieved through devices such as a tailgate position sensor, which can accurately identify the opening and closing actions of the tailgate.

[0106] When the tailgate is detected to be closed and no one is around, or when the tailgate has been closed for a preset duration and no one is around, the system can further check whether the automatic parking switch on the vehicle is active. This automatic parking switch can be a setting option within the vehicle system. Users can pre-enable this function so that after retrieving items, the vehicle can automatically continue parking deep into the parking space without manual confirmation. This switch setting can cater to different user habits; users who prefer automation can enable the function, while those who prefer manual control can disable it.

[0107] If the automatic parking switch is detected as being in the "on" state, the vehicle can automatically move backward from the second parking position and park in the first parking position, without any user intervention. This allows the user to simply retrieve their belongings, close the door, and leave; the vehicle will automatically park in the most suitable spot, which is very convenient. If the automatic parking switch is in the "off" state, the vehicle cannot automatically attempt to park again. It will remain in the second parking position, or, as described in the previous embodiment, will prompt the user to decide whether to continue parking. The automatic parking switch provides users with more options, allowing them to configure it according to their preferences and usage habits.

[0108] This application sets up an automatic parking switch, and when the tailgate is detected to be closed and no one is around, it automatically controls the vehicle to continue parking in the first parking position according to the switch status. This enables automatic secondary parking after the item is retrieved, further reducing the user's operation steps, improving the automation level and ease of use of parking, and providing users with a more intelligent and worry-free parking experience.

[0109] The following describes an embodiment of the apparatus described in this application, which can be used to execute the vehicle parking control method described in the above embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the vehicle parking control method described above.

[0110] See Figure 2 The diagram shows a block diagram of a vehicle parking control device according to an embodiment of this application.

[0111] like Figure 2 As shown, the vehicle parking control device 200 according to an embodiment of this application includes: an acquisition unit 201, a judgment unit 202, and a control unit 203.

[0112] The system includes an acquisition unit 201 for acquiring environmental perception data of the rear of the vehicle during parking; a judgment unit 202 for judging whether the tailgate opening space of the vehicle in a preset first parking position meets preset opening conditions based on the environmental perception data; and a control unit 203 for controlling the vehicle to park in a second parking position if the tailgate opening space of the vehicle in the first parking position does not meet the preset opening conditions, so that the tailgate opening space of the vehicle in the second parking position meets the preset opening conditions.

[0113] In some embodiments of this application, based on the aforementioned scheme, the judgment unit 202 is configured to: acquire the length parameters of the vehicle tailgate, hinge position information, and tailgate opening angle; and determine the outward swing envelope surface during the opening process of the vehicle tailgate based on the length parameters of the vehicle tailgate, hinge position information, and tailgate opening angle; identify obstacle information at the rear of the vehicle based on the environmental perception data; and determine whether the vehicle tailgate interferes with the rear obstacle when it is opened at the first parking position based on the outward swing envelope surface and the obstacle information.

[0114] In some embodiments of this application, based on the aforementioned scheme, the preset opening conditions include multi-level opening conditions, each level of opening condition corresponding to a different tailgate opening angle. The device further includes: a determining unit, used to determine the corresponding preset opening conditions according to the tailgate opening angle selected by the user.

[0115] In some embodiments of this application, based on the foregoing solution, the device further includes: an output unit, configured to output a prompt message to the user via a pop-up window on the central control display screen, a voice synthesis device, or a mobile terminal application before controlling the vehicle to park in the second parking position, indicating that the tailgate opening space is insufficient, and provide an option to reserve space for retrieving items; in response to receiving a user's selection instruction for the option, determine whether to control the vehicle to park in the second parking position based on the selection instruction.

[0116] In some embodiments of this application, based on the foregoing scheme, the device further includes: a prediction unit, configured to acquire the user's historical retrieval habit data before controlling the vehicle to park in the second parking position; predict the user's retrieval needs in the current parking scenario based on the historical retrieval habit data; and determine whether to control the vehicle to park in the second parking position based on the prediction result.

[0117] In some embodiments of this application, based on the foregoing scheme, the control unit 203 is configured to: calculate the minimum safe distance between the vehicle tailgate and the rear obstacle when the tailgate is closed, based on the length parameter and opening angle of the tailgate; determine the target direction and target distance of the vehicle to be moved in the current location based on the minimum safe distance and the actual distance between the vehicle tailgate and the rear obstacle; and control the vehicle to park in the second parking position according to the target direction and the target distance.

[0118] In some embodiments of this application, based on the foregoing scheme, the control unit 203 is configured to: acquire parking space line information of the target parking space; determine the adjustable range of the vehicle based on the parking space line information; and control the vehicle to park in the second parking position within the adjustable range.

[0119] In some embodiments of this application, based on the foregoing scheme, the device further includes: a detection unit, configured to detect the change in state of the vehicle's tailgate after the vehicle is parked in the second parking position; if it is detected that the vehicle's tailgate has switched from an open state to a closed state and there are no people around the vehicle, or if it is detected that the duration of the vehicle's tailgate in the closed state reaches a preset duration and there are no people around the vehicle, then output an inquiry message to the user asking whether to continue parking in the first parking position; in response to receiving the user's instruction to confirm parking in the first parking position, controlling the vehicle to park from the second parking position to the first parking position.

[0120] In some embodiments of this application, based on the aforementioned scheme, the detection unit is configured to: detect the change in state of the vehicle's tailgate after the vehicle has been parked in the second parking position; if it is detected that the vehicle's tailgate has switched from an open state to a closed state and there are no people around the vehicle, or if it is detected that the vehicle's tailgate has been in the closed state for a preset duration and there are no people around the vehicle, then it is detected whether the automatic parking switch is in the open state; if it is detected that the automatic parking switch is in the open state, then it controls the vehicle to park from the second parking position to the first parking position.

[0121] Based on the same inventive concept, embodiments of this application provide a computer program product, the computer program product including computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor, so as to cause a computer device having the processor to perform the operations performed by the vehicle parking control method as described above.

[0122] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium storing at least one computer program instruction, which is loaded and executed by a processor to implement the operations performed by the vehicle parking control method described above.

[0123] Based on the same inventive concept, this application also provides a vehicle, see reference. Figure 3 The diagram shows a structural schematic of a vehicle according to an embodiment of this application. The vehicle includes one or more memories 304, one or more processors 302, and at least one computer program (computer program instruction) stored in the memory 304 and executable on the processor 302. When the processor 302 executes the computer program, it implements the vehicle parking control method as described above.

[0124] Among them, Figure 3 In this document, a bus architecture (represented by bus 300) is used. Bus 300 may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 302 and memory represented by memory 304. Bus 300 may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 305 provides an interface between bus 300 and receiver 301 and transmitter 303. Receiver 301 and transmitter 303 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 302 is responsible for managing bus 300 and general processing, while memory 304 can be used to store data used by processor 302 during operation.

[0125] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. When implemented in software executed by a processor, the functions can be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above can be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units can be integrated into a single processing unit, or each unit can exist physically separately, or two or more units can be integrated into a single unit.

[0126] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0127] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0128] When the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part 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 computer program instructions, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0129] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A vehicle parking control method, characterized in that, The method includes: Acquire environmental perception data of the rear of the vehicle during parking; Based on the environmental perception data, determine whether the tailgate opening space of the vehicle at the preset first parking position meets the preset opening conditions; If the tailgate opening space of the vehicle in the first parking position does not meet the preset opening conditions, the vehicle is controlled to park in the second parking position so that the tailgate opening space of the vehicle in the second parking position meets the preset opening conditions.

2. The method according to claim 1, characterized in that, The step of determining whether the tailgate opening space of the vehicle at the preset first parking position meets the preset opening conditions based on the environmental perception data includes: The length parameters, hinge position information, and tailgate opening angle of the vehicle tailgate are obtained, and the outer swing envelope surface during the opening process of the vehicle tailgate is determined based on the length parameters, hinge position information, and tailgate opening angle of the vehicle tailgate. Based on the environmental perception data, information about obstacles at the rear of the vehicle is identified. Based on the outer swing envelope and the obstacle information, it is determined whether the vehicle tailgate interferes with the obstacle behind it when it is opened in the first parking position.

3. The method according to claim 1, characterized in that, The preset opening conditions include multiple levels of opening conditions, each level corresponding to a different tailgate opening angle. The method further includes: Based on the tailgate opening angle selected by the user, the corresponding preset opening conditions are determined.

4. The method according to claim 1, characterized in that, Before controlling the vehicle to park in the second parking position, the method further includes: The system will display a message to the user that there is insufficient space to open the tailgate, and provide an option to reserve space for retrieving items. In response to receiving a user's selection instruction for the option, determine whether to control the vehicle to park in the second parking position based on the selection instruction.

5. The method according to claim 1, characterized in that, Before controlling the vehicle to park in the second parking position, the method further includes: Obtain users' historical item retrieval habits data; Based on the historical item retrieval habit data, predict the user's item retrieval needs in the current parking scenario; Based on the prediction results, determine whether to control the vehicle to park in the second parking position.

6. The method according to claim 1, characterized in that, The control of parking the vehicle in the second parking position includes: Based on the length parameters and opening angle of the vehicle tailgate, calculate the minimum safe distance between the vehicle tailgate and the obstacle behind it when it is closed. Based on the minimum safe distance and the actual distance between the vehicle's tailgate and the obstacle behind it, the target direction and target distance of the vehicle to be moved are determined. According to the target direction and the target distance, control the vehicle to park in the second parking position.

7. The method according to claim 1, characterized in that, The control of parking the vehicle in the second parking position includes: Obtain the parking line information of the target parking space; The adjustable range of the vehicle is determined based on the parking space line information; Within the adjustable range, the vehicle is controlled to park in the second parking position.

8. The method according to claim 1, characterized in that, After the vehicle is parked in the second parking position, the method further includes: Detect changes in the state of the vehicle's tailgate; If it is detected that the vehicle tailgate has switched from an open state to a closed state and there are no people around the vehicle, or if it is detected that the vehicle tailgate has been in the closed state for a preset duration and there are no people around the vehicle, then an inquiry message is output to the user asking whether to continue parking in the first parking position. In response to receiving a user's confirmation instruction to park in the first parking position, the system controls the vehicle to park from the second parking position to the first parking position.

9. The method according to claim 1, characterized in that, After the vehicle is parked in the second parking position, the method further includes: Detect changes in the state of the vehicle's tailgate; If it is detected that the vehicle tailgate has switched from an open state to a closed state and there are no people around the vehicle, or if it is detected that the vehicle tailgate has been in the closed state for a preset duration and there are no people around the vehicle, then it is detected whether the automatic parking switch is in the open state. If the automatic parking switch is detected to be in the on state, the vehicle is controlled to park from the second parking position to the first parking position.

10. A vehicle, characterized in that, The vehicle includes one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, and the at least one piece of program code is loaded and executed by the one or more processors to implement the method as described in any one of claims 1 to 9.

Images