Parking method, electric device, and vehicle

Abstract

The application discloses a parking method, an electric device and a vehicle. The parking method comprises the following steps: when the vehicle is in a parking mode, real-time output display information is output in each stage of parking, so as to display a simulation picture of a vehicle envelope when each vehicle door of the vehicle is opened in a parking scene. According to the method, the simulation picture when each vehicle door of the vehicle is opened in different parking scenes can be displayed in real time in the parking mode of the vehicle. In the parking process, a user can confirm the space and the actual position required for safe opening of the vehicle door in real time, intuitively and accurately, and vehicle collision can be avoided. The method can be used for automatic driving, and the intelligence and safety of the automatic driving can be improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a parking method, as well as electrical equipment and vehicles. Background Technology

[0002] In related technologies, the door collision alarm is only triggered when the vehicle comes to a complete stop and the occupants are preparing to open the door. This makes it impossible to display the space and actual position required for the safe opening of the door in real time during parking, which may lead to a collision when the door is opened. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of this invention is to provide a parking method that can display simulated images of each vehicle door opening in real time under different parking scenarios in vehicle parking mode. During the parking process, users can confirm the space and actual position required for safe door opening in real time, intuitively, and accurately, thus avoiding vehicle collisions. The method of this application can be used in autonomous driving, improving the intelligence and safety of autonomous driving.

[0004] The second objective of this invention is to provide an electrical device.

[0005] The third objective of this invention is to provide a vehicle.

[0006] To address the aforementioned problems, a first aspect of the present invention provides a parking method, comprising: when the vehicle is in parking mode, outputting and displaying information in real time at each stage of parking to display a simulated view of the vehicle envelope when each door of the vehicle is opened in the parking scenario.

[0007] According to the parking method of the present invention, in vehicle parking mode, the vehicle envelope is calculated in real time based on the vehicle model and the preset safe door opening angle. At each stage of parking, the simulated image of the vehicle envelope when each door is opened is displayed in real time in the parking scenario. During the parking process, the user can confirm the space and actual position required for the safe opening of the door in real time, intuitively and accurately, so as to avoid vehicle collision.

[0008] In some embodiments, the parking phase includes a parking space availability determination phase; during the parking space availability determination phase, the simulation screen includes the relative position between the vehicle envelope and the parking space space of each empty parking space.

[0009] In some embodiments, the parking method further includes: during the parking space availability determination phase, when the relative positions between the vehicle envelope and the empty parking space are different, the parking space is displayed differently in the simulation screen.

[0010] In some embodiments, the relative position includes at least one of the following: the parking space fully satisfies the safe opening of all doors; the parking space satisfies the safe opening of some doors; the parking space does not satisfy the safe opening of all doors; and the parking space does not satisfy the vehicle parking space requirement.

[0011] In some embodiments, the parking phase includes a parking action execution phase; during the parking action execution phase, the simulated image includes the collision area between the vehicle envelope and the obstacle.

[0012] In some embodiments, the vehicle envelope includes safety areas required for each door to open to multiple different degrees; the collision area includes a safety area for at least one door to open to a target degree, wherein the target degree is any one of multiple different degrees; the display method of the safety area for opening the door to the target degree is different from the display method of the safety areas required for other degrees of door opening.

[0013] In some embodiments, the parking control method further includes: after parking is completed and it is determined that there is a collision risk when at least one target door is opened, detecting the unlocking signal of the target door, issuing an alarm and / or restricting the opening of the target door; and / or, in response to a user's trigger command to deactivate the door opening anti-collision control function, issuing a continuous warning prompt.

[0014] In some embodiments, the parking control method further includes: obtaining parking space information and obstacle information based on multi-source sensing information of the vehicle.

[0015] A second aspect of the present invention provides an electrical device, which includes a processor and a memory. The memory stores a computer program, and when the processor executes the computer program, it implements the parking method described in the above embodiments; or, the electrical device stores a computer program, and when the computer program is executed, it implements the parking method described in the above embodiments.

[0016] According to the electrical equipment of the present invention, the corresponding vehicle parking program can be stored in the memory. When the parking method is implemented, the processor executes the parking program. In the vehicle parking mode, the vehicle envelope is calculated in real time based on the vehicle model and the preset safe door opening angle. At each stage of parking, the simulated image of the vehicle envelope when each door is opened in the parking scenario is displayed in real time. During the parking process, the user can confirm the space and actual position required for the safe opening of the door in real time, intuitively and accurately, so as to avoid vehicle collision.

[0017] A third aspect of the present invention provides a vehicle, the vehicle including the electrical equipment described in the above embodiments; or, the vehicle includes a multi-source sensor, a display device and a control device, the control device being connected to the multi-source sensor and the display device for implementing the parking method described in the above embodiments.

[0018] According to an embodiment of the present invention, in the vehicle parking mode, the vehicle envelope is calculated in real time based on the vehicle model and the preset safe door opening angle. At each stage of parking, the simulated image of the vehicle envelope when each door is opened is displayed in real time in the parking scenario. During the parking process, the user can confirm the space and actual position required for the safe opening of the door in real time, intuitively and accurately, so as to avoid vehicle collision.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a flowchart of a parking method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a vehicle door being opened according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a vehicle door being safely opened according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a vehicle door that cannot be safely opened according to an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating that a vehicle can only be parked according to an embodiment of the present invention; Figure 6 This is a schematic diagram illustrating the inability of a vehicle to stop according to an embodiment of the present invention; Figure 7 This is a schematic diagram illustrating the safe opening of a vehicle door according to an embodiment of the present invention; Figure 8 This is a schematic diagram showing the various doors of a vehicle according to an embodiment of the present invention; Figure 9 This is a schematic diagram of a parking process according to an embodiment of the present invention; Figure 10 This is a schematic diagram illustrating that a vehicle door cannot be safely opened according to an embodiment of the present invention; Figure 11 This is a schematic diagram showing that two doors of a vehicle cannot be safely opened according to an embodiment of the present invention; Figure 12 This is a schematic diagram illustrating that a vehicle door cannot be safely opened according to an embodiment of the present invention; Figure 13 This is a schematic diagram showing that two doors of a vehicle cannot be safely opened according to an embodiment of the present invention; Figure 14 This is a structural block diagram of an electrical device according to an embodiment of the present invention; Figure 15 This is a structural block diagram of a vehicle according to an embodiment of the present invention; Figure 16 This is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0021] Figure label: 200 vehicles; 100 electrical appliances; Processor 101; memory 102; source sensor 201; display device 202; control device 203. Detailed Implementation

[0022] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0023] The existing solution only triggers the door collision alarm when the vehicle comes to a complete stop and the occupants are preparing to open the door. It cannot display the space and actual position required for the door to be opened safely in real time during parking, which may lead to a collision when the door is opened.

[0024] To address the above problems, a first aspect of this invention provides a parking method. This method can display simulated images of each vehicle door opening in real-time under different parking scenarios in vehicle parking mode. During parking, users can intuitively and accurately confirm the space and actual position required for safe door opening in real-time, thus avoiding vehicle collisions. This method can be used in autonomous driving, improving the intelligence and safety of autonomous driving.

[0025] The following is for reference. Figure 1 A parking method according to an embodiment of the first aspect of the present invention is described, such as... Figure 1 As shown, the method includes at least step S1.

[0026] Step S1: When the vehicle is in parking mode, display information is output in real time at each stage of parking to show the simulated image of the vehicle envelope when each door is opened in the parking scenario.

[0027] Specifically, once the vehicle system recognizes that it has entered the "parking start" state, it initializes the sensor array and computing unit. The sensor array can include ultrasonic radar, surround-view cameras, millimeter-wave radar, etc. Through multi-source sensor fusion technology, it collects key information about the vehicle's surrounding environment in real time. For example, it identifies parking line markings by extracting ground markings using visual algorithms to determine parking space boundaries; it models parking space by constructing a 3D parking area model based on point cloud or image depth information; and it detects obstacles by identifying static / dynamic obstacles (such as other vehicles, pillars, pedestrians, low curbs, etc.) and recording their position, size, and movement trend. After acquiring information about the vehicle's surrounding environment, it calculates the vehicle envelope in real time based on the vehicle model and preset safe door opening angles. The vehicle envelope is a closed 3D entity formed by merging all the spaces swept by the vehicle under different operating conditions, representing the maximum boundary that the vehicle may occupy.

[0028] By utilizing information about the vehicle's surrounding environment and its vehicle envelope, real-time information is output and displayed at each stage of parking to show a simulated view of the vehicle envelope as each door opens within the parking scenario. For example... Figure 2 The image shown is a simulation of a vehicle door opening. Based on this simulation of a parking scenario, the system can display whether the door will collide with obstacles around the vehicle when it opens, allowing the user to adjust the vehicle's parking position accordingly and avoid collisions when opening the door.

[0029] According to the parking method of the present invention, in vehicle parking mode, the vehicle envelope is calculated in real time based on the vehicle model and the preset safe door opening angle. At each stage of parking, the simulated image of the vehicle envelope when each door is opened is displayed in real time in the parking scenario. During the parking process, the user can confirm the space and actual position required for the safe opening of the door in real time, intuitively and accurately, so as to avoid vehicle collision.

[0030] For example, after parking, even if the vehicle is accurately parked in the space, insufficient side space may prevent the door from opening to a safe angle for passengers to exit, forcing the vehicle to be moved again, a phenomenon known as "repeated parking." This is not only time-consuming and laborious, but also poses a risk if passengers force the door open without realizing the danger, which could easily cause the door to collide and scratch with neighboring vehicles, walls, pillars, or other objects, resulting in property damage and safety hazards.

[0031] Existing technologies have significant limitations: First, intervention is delayed. Most existing solutions only trigger intervention when the vehicle has come to a complete stop and passengers are preparing to open the door, which is a "post-event remedy" and cannot solve the efficiency and experience pain point of "repeated parking" caused by insufficient lateral space. Second, the perception dimension is limited. Most solutions only detect static obstacles or dynamic oncoming vehicles after the vehicle has come to a complete stop, lacking the ability to predict whether the parking space meets the conditions for safe exit during the entire parking process. Third, human-computer interaction is not intuitive. Sound or simple icon warnings cannot allow drivers to intuitively understand the specific relationship between space and risk during parking, leading to difficulty in judgment and hesitation in operation.

[0032] Therefore, there is an urgent need for a technical solution that can intervene throughout the entire parking cycle, fundamentally prevent vehicles from parking in positions where it is "impossible to get out safely," and provide intuitive and predictive safety guidance.

[0033] This invention's parking method establishes a dynamic model of the safe opening area for each vehicle door. During parking, based on the vehicle model and preset safe door opening angles, the "vehicle envelope" of each door is calculated in real time and dynamically displayed on the head-up display or central control screen. The dynamic visualization model of the safe opening area for each door allows users to confirm the space and actual position required for safe door opening in real time, intuitively, and accurately during parking. Upon recognizing the start of parking, the system senses the parking environment, identifies parking lines and surrounding obstacles, establishes an actual space model, and classifies parking spaces as follows: safe for both sides to open (actual space ≥ space required for safe opening of both sides), safe for only one side to open (space required for safe opening of both sides > actual space ≥ space required for safe opening of one side), does not meet the safe door opening conditions (space for parking only ≤ actual space < space required for safe opening of one side), and does not meet the vehicle parking space requirements (actual space < space for parking only). The head-up display or central control screen displays parking spaces in green, yellow, orange, and red to indicate whether the safe door opening conditions are met, the safe door opening conditions are met, the safe door opening conditions are not met, or the parking conditions are not met.

[0034] This invention solves the problem of users finding it difficult to quickly and accurately determine whether the surrounding environment of a vehicle meets the safety requirements for door opening. During parking, the system detects and assesses parking spaces in real time and provides the results to the user more intuitively, preventing parking spaces from being abandoned or, in severe cases, collisions due to misjudgment. During parking, users can clearly see whether there is a risk of collision when a door opens, and the system guides them to adjust their vehicle in real time, avoiding repeated parking attempts.

[0035] In some embodiments, the parking phase includes a parking space availability assessment phase; during the parking space availability assessment phase, the simulation screen includes the relative positions between the vehicle envelope and the parking space spaces of each available parking space.

[0036] Specifically, during the parking process, the availability of parking spaces is assessed to determine whether the vehicle can park in the selected space. During the availability assessment phase, the simulation screen displays the relative position between the vehicle's envelope and the space of each available parking space. Through the simulation screen, users can determine whether the vehicle can park in the corresponding space and whether each door of the vehicle can be opened normally after the vehicle stops.

[0037] In some embodiments, the parking method further includes: during the parking space availability determination phase, when the relative positions between the vehicle envelope and the parking space of an empty parking space are different, the display method of the parking space in the simulation screen is different.

[0038] Specifically, in order to enable users to accurately distinguish the relative position between the vehicle envelope and the empty parking space, the parking space in the simulation screen can be displayed in different ways when the relative position between the vehicle envelope and the empty parking space is different. For example, different display colors can be used to represent the distance between the vehicle envelope and the empty parking space.

[0039] In some embodiments, the relative position includes at least one of the following: the parking space fully meets the requirements for safe opening of all doors, the parking space meets the requirements for safe opening of some doors, the parking space does not meet the requirements for safe opening of all doors, and the parking space does not meet the requirements for vehicle parking space.

[0040] Specifically, based on preset safety thresholds—that is, the distance at which a car door can be opened normally—the currently identified parking space is classified into four risk levels, and corresponding color indicators are output. When the parking space fully meets the safety requirements for all car doors to open, the door corresponding to the vehicle's envelope in the display device shows a green level (low risk). Figure 3 As shown, the car door can be opened safely, and the door indicator is green.

[0041] When the parking space allows for the safe opening of some vehicle doors, the door corresponding to the vehicle's envelope in the display device will show a yellow level (low to medium risk). If the parking space only allows for the safe opening of some doors (e.g., the driver's side door can be opened), then... Figure 4 As shown, doors that can be opened normally are displayed in green, while doors that cannot be opened normally due to obstacles are displayed in yellow.

[0042] When the parking space is insufficient to safely open all doors, the door corresponding to the vehicle's envelope in the display device will show an orange level (medium-high risk). The parking space can barely accommodate the vehicle, but there is a collision risk if all doors are opened. Figure 5 As shown, the vehicle can only be parked normally. After parking, all doors cannot be opened normally, and the doors that cannot be opened normally will be marked in orange.

[0043] When the parking space does not meet the vehicle's parking space requirements, the door corresponding to the vehicle's envelope will display a red level (high risk) on the display device, indicating that the parking space is insufficient or contains insurmountable obstacles, making safe parking impossible. Figure 6 As shown, the vehicle cannot park in this space, and the door indicator will turn red.

[0044] The classification results of green (low risk), yellow (low to medium risk), orange (medium to high risk), and red (high risk) will serve as the basis for subsequent warning strategies and will be displayed simultaneously on the in-vehicle display interface (such as the central control screen or instrument panel).

[0045] In some embodiments, the parking phase includes a parking action execution phase; during the parking action execution phase, the simulation image includes the collision area between the vehicle envelope and the obstacle.

[0046] Specifically, during the parking process, the simulation screen displays the collision area between the vehicle's envelope and the obstacle in real time, which is the area where the vehicle itself may collide with the obstacle. At the same time, it also displays the collision area where the vehicle door may collide with the obstacle after the vehicle door is opened.

[0047] In some embodiments, the vehicle envelope includes safety areas required for each door to open to multiple different degrees; the collision area includes a safety area for at least one door to open to a target degree, where the target degree is any one of multiple different degrees; the display method of the safety area for the door to open to the target degree is different from the display method of the safety areas required for other degrees of door opening.

[0048] Specifically, such as Figure 2 As shown, during the actual parking maneuver, the system continuously monitors two key areas: Area A1i, which refers to the safe area required for the vehicle doors to open to the first degree of opening (A11 represents the left front door, A12 represents the right front door, A13 represents the left rear door, and A14 represents the right rear door); and Area A2i, which refers to the safe area required for the vehicle doors to open to the second degree of opening (A21 represents the left front door, A22 represents the right front door, A23 represents the left rear door, and A24 represents the right rear door).

[0049] The first opening degree and the second opening degree can be set according to different vehicle models. For example, the first opening degree can be 60° and the second opening degree can be 90°. The first opening degree can ensure that users can get on and off the vehicle normally, and the second opening degree can be the maximum opening degree.

[0050] The vehicle envelope includes multiple safety areas required for each door to open to different degrees. The collision area includes a safety area for at least one door to open to a target degree. The display method of the safety area for the target degree of door opening is different from the display method of the safety areas required for other degrees of door opening. For example, if there is an obstacle in the safety area for the target degree of door opening, the safety area for the target degree of door opening is displayed in yellow, while the safety areas required for other degrees of door opening are displayed in green.

[0051] For example, during parking, the system continuously determines whether obstacles exist in areas A1i and A2i; based on the obstacle detection results in areas A1i and A2i, it triggers differentiated visual and auditory warnings; Scenario 1: There are no obstacles in both areas A1i and A2i, such as... Figure 7 As shown in the diagram, if the green lights in both A1i and A2i zones are constantly on, it indicates that the door can be opened safely. Scenario 2: If there is no obstacle in A1i zone but there is an obstacle in A2i zone, the green light in A1i zone will be constantly on, while the yellow light in A2i zone will flash, indicating that the door can be opened to the first level of opening safely, but opening to the second level poses a collision risk. Scenario 3: If there is an obstacle in A1i zone, the yellow lights in both A1i and A2i zones will flash, indicating that there is a risk in opening the door.

[0052] like Figure 8 As shown, the camera captures real-time images of the vehicle's surroundings and combines them with radar data, predicted trajectories of doors, wheels, tires, and rearview mirrors at different opening degrees. The composite image is then displayed on the in-vehicle display screen in real time. For example, if there is an obstacle in area A11, it indicates that the door cannot be opened normally. Areas A11 and A21 are displayed in yellow. When the left front door opening signal is detected, the warning system is triggered, indicating that the space at the left front door is small and that there is a risk of door collision. If there is no obstacle in area A11 and an obstacle in area A21, A11 is displayed in green and A21 is displayed in yellow. When the left front door is opened to its first degree, a warning is issued that the space at the left front door is small and that there is a risk of door collision. Other doors are displayed in the same way to indicate whether there is a risk of collision.

[0053] In some embodiments, when performing parking or parking assistance functions, the present invention employs a multi-stage dynamic risk assessment mechanism, combining parking space availability judgment and parking path obstacle detection to achieve graded and visualized early warning, thereby improving parking safety and user experience. Figure 9As shown, the specific real-time execution process involves initiating the parking process, performing environmental perception and data collection to obtain information such as parking space lines, parking space, and obstacles. Green indicates that the parking space allows all doors to be opened safely without collision risk; yellow indicates that the parking space allows some doors to be opened safely without collision risk; orange indicates that the parking space only allows vehicle parking, and there is a collision risk for both vehicles; red indicates that the parking space cannot accommodate vehicle parking. Then, the availability of the parking space is assessed, and dynamic obstacle monitoring is performed during the parking process to determine whether there are obstacles in the A1i and A2i areas. Based on the assessment, graded warning signals are output, and closed-loop feedback is implemented until the visualization assistance system is exited / the vehicle system is powered off.

[0054] For example, a diagram illustrating a situation where a car door cannot be opened during parking is shown below. Figure 10 As shown, the left rear door cannot be opened normally; at this time, the left rear door is displayed in yellow, while all other doors are displayed in green. The diagram illustrates two doors that cannot be opened during vehicle parking. Figure 11 As shown, the front left door cannot be opened normally, and its indicator is yellow. The rear left door also cannot be opened normally, and its indicator is yellow. All other doors are green. This illustration shows a vehicle with one door unable to open during parking. Figure 12 As shown, the left rear door cannot be opened normally; at this time, the left rear door is displayed in yellow, while all other doors are displayed in green. The diagram illustrates two doors that cannot be opened during vehicle parking. Figure 13 As shown, the left front door cannot be opened normally, and the left front door is displayed in yellow. The left rear door also cannot be opened normally, and the left rear door is displayed in yellow. All other doors are displayed in green.

[0055] In some embodiments, the parking control method further includes: after parking is completed and it is determined that there is a collision risk when at least one target door is opened, detecting an unlocking signal of the target door, issuing an alarm and / or restricting the opening of the target door; and / or, in response to a user's trigger command to deactivate the door opening anti-collision control function, issuing a continuous warning prompt.

[0056] Specifically, after the vehicle is parked, the system continuously assesses whether all vehicle doors can be opened normally. If at least one target door is detected as having a collision risk, an alarm is triggered, for example, through a verbal prompt. Simultaneously, the system can restrict the opening of the target door to prevent a collision. In an emergency, the user can deactivate the door opening collision avoidance control function, allowing the target door with a collision risk to open normally, while receiving continuous warnings informing the user that opening the target door may result in a collision.

[0057] In some embodiments, the parking control method further includes: obtaining parking space information and obstacle information based on multi-source sensing information of the vehicle.

[0058] Specifically, multi-source sensing information of the vehicle can be obtained through vehicle-mounted cameras and millimeter-wave radar. Environmental perception and data collection can be performed based on the multi-source sensing information to obtain parking space information and obstacle information. Based on the parking space information, it can be determined whether the corresponding parking space can be parked normally. Based on the obstacle information, it can be determined whether a collision will occur during the parking process, and whether the door will collide with an obstacle when the vehicle is opened after parking.

[0059] For example, existing solutions have significant limitations: First, the intervention timing is delayed. Most existing solutions only trigger when the vehicle has come to a complete stop and the occupants are preparing to open the door, which is a "post-event remedy" and cannot solve the efficiency and experience pain point of "repeated parking" caused by insufficient lateral space. Second, the perception dimension is limited. Most solutions only detect static obstacles or dynamic oncoming vehicles after the vehicle has come to a complete stop, lacking the overall ability to predict whether the parking space meets the conditions for safe exit during the entire parking process. Third, the human-computer interaction is not intuitive. Sound or simple icon warnings cannot allow drivers to intuitively understand the specific relationship between space and risk during parking, leading to difficulty in judgment and hesitation in operation. Fourth, inaccurate parking space identification leads to the abandonment of available parking spaces. Existing solutions identify parking spaces using a rectangular model of the space required by the vehicle size and different door opening angles, rather than a fan-shaped model. This inaccurate identification causes users to abandon parking spaces. Therefore, there is an urgent need for a technical solution that can intervene throughout the entire parking cycle, fundamentally prevent vehicles from parking in positions where it is "impossible to get out safely," and provide intuitive and predictive safety guidance.

[0060] I invented a parking method that establishes a dynamic visualization model of the safe opening area of ​​each vehicle door. During the parking process, based on the vehicle model and preset safe door opening angles, the "vehicle envelope" of each door is calculated in real time and dynamically displayed on the control screen. The system classifies, predicts, and visualizes parking spaces, recognizing the start of parking, sensing the parking environment, identifying parking lines and surrounding obstacles, establishing a real-world space model, and classifying parking spaces as follows: all doors are safe to open, some but not all doors pose a risk of opening, all doors pose a risk of opening, and parking spaces do not meet the required space requirements. These categories are displayed in green, yellow, orange, and red on the central control screen, respectively.

[0061] During parking, the system performs real-time collision detection between the dynamic "vehicle envelope" of each door and environmental obstacles. On the central control screen, the safe opening space envelope of each door is rendered and displayed in real time using a semi-transparent colored curved surface (such as green, yellow, or red). When the envelope interferes with the environment, the interference area is highlighted (e.g., turns into flashing red) to guide the driver in parking.

[0062] After parking, the system continuously monitors and warns against and restricts unsafe door opening behaviors. When the vehicle comes to a complete stop and the gear is in Park (P), the system enters parking protection mode, continuously monitoring the environment to the sides of each door. When the system determines that opening a door on a certain side will immediately result in a collision, and receives an unlock signal from that door, it issues a strong warning through sound and light (flashing ambient lights on the door panel, rapid beeping from the speaker) and touch (high-frequency micro-vibration of the door handle). As an advanced protection option, it can be linked with the vehicle domain controller to temporarily restrict the opening range of the electronic lock of that door in extremely high-risk situations (e.g., only allowing opening to within a dangerous angle), or require secondary confirmation from the driver on the vehicle's infotainment system before full opening. A manual control unit is also provided, allowing the driver to deactivate the anti-collision control via a button on the inside of the door, suitable for emergency scenarios. After deactivation, the system issues a continuous warning, achieving a closed-loop system.

[0063] A second aspect of the present invention provides an electrical device, such as... Figure 14 As shown, the electrical device 100 includes a processor 101 and a memory 102.

[0064] The processor 101 is connected to the memory 102, which stores a computer program that can be executed by at least one processor 101. When the processor 101 executes the computer program, it implements a parking method. Alternatively, the electrical device 100 stores a computer program, which implements a parking method when it is executed.

[0065] According to the electrical equipment of the present invention, the corresponding vehicle parking program can be stored in the memory. When the parking method is implemented, the processor executes the parking program. In the vehicle parking mode, the vehicle envelope is calculated in real time based on the vehicle model and the preset safe door opening angle. At each stage of parking, the simulated image of the vehicle envelope when each door is opened in the parking scenario is displayed in real time. During the parking process, the user can confirm the space and actual position required for the safe opening of the door in real time, intuitively and accurately, so as to avoid vehicle collision.

[0066] A third aspect of the present invention provides a vehicle, such as Figure 15 As shown, vehicle 200 includes electrical equipment 100, or, as... Figure 16 As shown, the vehicle 200 includes: a multi-source sensor 201, a display device 202, and a control device 203.

[0067] The control device 203 is connected to the multi-source sensor 201 and the display device 202 to implement the parking method.

[0068] According to an embodiment of the present invention, in the vehicle parking mode, the vehicle envelope is calculated in real time based on the vehicle model and the preset safe door opening angle. At each stage of parking, the simulated image of the vehicle envelope when each door is opened is displayed in real time in the parking scenario. During the parking process, the user can confirm the space and actual position required for the safe opening of the door in real time, intuitively and accurately, so as to avoid vehicle collision.

[0069] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0070] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A parking method, characterized in that, include: When the vehicle is in parking mode, information is displayed in real time at each stage of parking to show the simulated image of the vehicle envelope when each door is opened in the parking scenario.

2. The parking method according to claim 1, characterized in that, The parking phase includes the parking space availability assessment phase; During the parking space availability determination phase, the simulated image includes the relative position between the vehicle envelope and the parking space space of each empty parking space.

3. The parking method according to claim 2, characterized in that, The parking method also includes: During the parking space availability determination phase, when the relative positions between the vehicle envelope and the empty parking space are different, the parking space is displayed differently in the simulation.

4. The parking method according to claim 3, characterized in that, The relative position includes at least one of the following: the parking space fully satisfies the safe opening of all vehicle doors; the parking space satisfies the safe opening of some vehicle doors; the parking space does not satisfy the safe opening of all vehicle doors; and the parking space does not satisfy the vehicle parking space requirement.

5. The parking method according to claim 1, characterized in that, The parking phase includes the parking action execution phase; During the parking maneuver, the simulated scene includes the collision area between the vehicle's envelope and the obstacle.

6. The parking method according to claim 5, characterized in that, The vehicle envelope includes the safety areas required for each door to open to multiple different degrees. The collision area includes a safe area for at least one door opening target degree, wherein the target degree is any one of a plurality of different degrees. The display method of the safe area for the target opening degree of the car door is different from the display method of the safe area required for other opening degrees of the car door.

7. The parking method according to claim 1, characterized in that, The parking control method also includes: After parking is completed and it is determined that there is a collision risk if at least one target door is opened, an unlock signal of the target door is detected, and an alarm is triggered and / or the opening of the target door is restricted. And / or, in response to a user's trigger command to deactivate the door opening anti-collision control function, provide continuous early warning prompts.

8. The parking method according to claim 1, characterized in that, The parking control method also includes: Based on the vehicle's multi-source sensing information, parking space information and obstacle information are obtained.

9. An electrical appliance, characterized in that, The electrical equipment includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program implements the parking method according to any one of claims 1-8; Alternatively, the electrical device stores a computer program that, when executed, implements the parking method according to any one of claims 1-8.

10. A vehicle, characterized in that, The vehicle includes the electrical equipment as described in claim 9; Alternatively, the vehicle may include a multi-source sensor, a display device, and a control device, wherein the control device is connected to the multi-source sensor and the display device to implement the parking method according to any one of claims 1-8.

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