Vehicle parking-out processing method and device, and vehicle

Abstract

This invention relates to a vehicle parking exit processing method, apparatus, and vehicle. The method includes: during vehicle parking, constructing a driving path coordinate system based on vehicle location positioning, and mapping the identified parking space geometric information to the driving path coordinate system; after determining that the vehicle has completed parking, calculating and storing first parking space information in the driving path coordinate system; wherein, the first parking space information includes parking space type, limit switch position information when there is an infinite limit switch and a limit switch inside the parking space; when determining that the vehicle is starting to exit, matching the currently identified second parking space information with the stored first parking space information; if the match is consistent, then planning and controlling the exit path based on the first parking space information to execute the exit. This overcomes the defect that the limit switch cannot be recognized by image when it is under the vehicle during parking, improving safety and user experience.

Description

Technical Field

[0001] This application relates to the field of intelligent parking for automobiles, and more particularly to a method, device, and vehicle for handling vehicle parking exit. Background Technology

[0002] With the rapid development of automotive intelligence technology, intelligent parking systems have evolved from initial parking assistance functions such as reversing radar and reversing cameras to fully automated intelligent parking. The functions and performance of intelligent parking systems are constantly improving, and their level of intelligence is continuously increasing, solving parking pain points for most users, especially novice drivers. Currently, the mainstream perception solution for intelligent parking systems is based on ultrasonic sensors and fisheye cameras, which can meet the needs of use in conventional parking scenarios.

[0003] However, existing limiter recognition solutions have significant shortcomings in parking exit scenarios with parking space limiters. Parking space limiters are blocks in parking lots used to restrict vehicle parking positions, typically located at the front of the parking space and usually made of metal or rubber. Once a vehicle is parked, the limiter is located under the vehicle, in a blind spot of the camera's image, and cannot be visually recognized, posing a safety risk to parking exit operations.

[0004] Existing technologies include the following two processing methods: one is a vision-based limiter recognition scheme, which has blind spots in parking scenarios. When the limiter is located under the vehicle, it cannot be recognized by the camera, resulting in the safety risk of the vehicle passing over the limiter; the other is a limiter recognition scheme based on indirect inference of driving status. This scheme is easily affected by uneven ground conditions, which can lead to misjudgments and parking failures, affecting user confidence and driving experience. Summary of the Invention

[0005] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, this application provides a vehicle parking exit processing method, apparatus and vehicle.

[0006] Firstly, this application provides a method for handling vehicle parking exits, including: During the vehicle parking process, a driving path coordinate system is constructed based on the vehicle's location, and the identified parking space geometric information is mapped to the driving path coordinate system. After confirming that the vehicle has completed parking in the parking space, the first parking space information is calculated in the driving path coordinate system and stored; wherein, the first parking space information includes the parking space type, the limit switch position information when there is no limit switch inside the parking space and the limit switch position information when there is a limit switch. When it is determined that the vehicle starts to park from the parking space, the currently identified second parking space information is matched with the stored first parking space information; If a match is found, the parking exit path is planned and controlled to execute the parking exit based on the first parking space information or the second parking space information; If the match is inconsistent, the parking exit path will be planned and controlled to execute the parking exit based on the currently detected second parking space information.

[0007] In one possible implementation of this application, the step of constructing a driving path coordinate system based on the vehicle's position during the vehicle parking process, and mapping the identified parking space geometric information to the driving path coordinate system, includes: When the vehicle is positioned on a non-main road and its speed is below a preset speed threshold and it is in forward gear, the vehicle's position coordinates in the driving path coordinate system are calculated based on wheel speed pulses, steering wheel angle and gear information, with the center of the rear axle of the vehicle as the origin, the direction of the vehicle's forward movement as the positive x-axis, and the direction perpendicular to the forward movement to the right as the positive y-axis. The type of parking space is determined by collecting data using ultrasonic radar and a camera. If the space is identified as a marked parking space and contains a limit switch, the corner point of the marked parking space and the position information of the limit switch are calculated, and the corner point and the position of the limit switch are mapped to the coordinate system.

[0008] In one possible implementation of this application, after determining that the vehicle has completed parking in the parking space, calculating and storing the first parking space information in the driving path coordinate system includes: The vehicle's parking status is determined based on the positional relationship between the vehicle's position coordinates and the corner points of the parking space. If the vehicle's position coordinates fall within the range of the four corner points of the parking space, then the vehicle is determined to be parked in the parking space. After determining that the vehicle has entered the parking space, the parking space type, vehicle position coordinates, and limiter position information are stored.

[0009] In one possible implementation of this application, after determining that the vehicle has entered the parking space, storing the parking space type, vehicle position coordinates, and limiter position information includes: After determining that the vehicle is parked in place, multiple frames of parking space corner point and limiter position perception data are continuously collected. The multiple frames of position perception data are weighted and fused. The parking space type, vehicle position coordinates and limiter position obtained after fusion calculation are stored as the first parking space information.

[0010] In one possible implementation of this application, if a match is found, then parking exit path planning and control are performed based on the first parking space information or the second parking space information to execute the parking exit, including: When the second parking space information matches the stored first parking space information and is determined to be a marked parking space, the parking exit path is planned by combining the real-time detected environmental boundary conditions and the pre-memorized limiter information. During the parking process, the electric power steering system is controlled to complete the steering action, the electronic shift system is controlled to complete the shifting action, and the vehicle stability system and engine management system work together to control the vehicle to move forward, backward and stop, and travel at a preset speed according to the parking path. When the planned target distance of the vehicle is less than or equal to a set distance threshold and the vehicle attitude angle is less than or equal to a set angle threshold, the parking exit is determined to be completed; wherein, the planned target distance is the relative distance from the center of the rear axle of the vehicle to the parking exit target termination position.

[0011] In one possible implementation of this application, if a match is found, then parking exit path planning and control execution based on the first parking space information or the second parking space information includes: If the second parking space information matches the first parking space information and is determined to be a non-marked parking space, then a parking exit path is planned based on the boundary conditions detected in real time. When the vehicle speed is zero, the gear is reverse, and the road slope is greater than the slope setting value, it indicates that the vehicle has entered the slope condition, and the engine management system is controlled to increase the output torque to continue parking. If the vehicle still cannot move after the torque exceeds the safety setting value, the parking operation will be terminated.

[0012] In one possible implementation of this application, if the matching is inconsistent, the parking exit path planning and control execution based on the currently detected second parking space information includes: If the second parking space information does not match the stored first parking space information, then a parking exit path is planned based on the boundary conditions detected in real time. When the vehicle is stationary and in reverse gear and the road slope is greater than the set slope value, it indicates that it has entered the slope condition, and the engine management system is controlled to increase the output torque. If the output torque exceeds the slope compensation setting value and the vehicle still cannot move, it is determined that there is a limit switch on site, and the parking path is replanned based on the real-time boundary conditions and the parking is executed. When the planned target distance of the vehicle is less than or equal to a set distance threshold and the vehicle attitude angle is less than or equal to a set angle threshold, the parking exit is determined to be complete.

[0013] In one possible implementation of this application, it further includes: Once the vehicle leaves the parking space, the stored information about the first parking space is cleared.

[0014] Secondly, this application provides a vehicle parking exit processing device, comprising: The mapping module is used to construct a driving path coordinate system based on the vehicle's position during the vehicle parking process, and to map the identified parking space geometric information to the driving path coordinate system. The storage module is used to calculate and store the first parking space information in the driving path coordinate system after determining that the vehicle has completed parking in the parking space; wherein, the first parking space information includes the parking space type, the limit switch position information when there is an infinite stop switch inside the parking space and the limit switch position information when there is a limit switch. The matching module is used to match the currently identified second parking space information with the stored first parking space information when it is determined that the vehicle has started to park. The first execution module is used to plan and control the parking exit path based on the first parking space information or the second parking space information if a match is found. The second execution module is used to plan and control the parking exit path based on the currently detected second parking space information if the matching is inconsistent.

[0015] Thirdly, this application provides a vehicle, including a vehicle body and electronic devices, wherein the electronic devices include a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor, when executing a program stored in memory, implements a vehicle parking processing method as described in any of the first aspects.

[0016] Fourthly, this application provides a computer-readable storage medium storing a program for a vehicle parking exit processing method, wherein when the program for the vehicle parking exit processing method is executed by a processor, it implements the steps of the vehicle parking exit processing method described in any of the first aspects.

[0017] The beneficial effects of this invention are: In this embodiment, during vehicle parking, a driving path coordinate system is constructed based on the vehicle's location, and the identified parking space geometric information is mapped to the driving path coordinate system. After determining that the vehicle has completed parking, first parking space information is calculated in the driving path coordinate system and stored. This first parking space information includes the parking space type, the position information of the limit switch (both without and without limit switches), and the position of the limit switch. When determining that the vehicle is starting to exit parking, the currently identified second parking space information is matched with the stored first parking space information. If the match is consistent, then according to the first... The system plans and controls the parking exit based on either the parking space information or the second parking space information. If the information does not match, the system plans and controls the parking exit based on the currently detected second parking space information. Furthermore, in this embodiment, by constructing a driving coordinate system, the limiters and parking spaces are accurately located. This allows for the early identification and memorization of limiter information during the parking phase. When parking, the system directly utilizes the memorized limiter position information for path planning, effectively overcoming the defect that the limiters cannot be recognized by image when they are under the vehicle during parking. This avoids the safety risk of crossing the limiters and improves safety and user experience. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic block diagram of the system functional modules of a vehicle parking exit processing method provided in this application embodiment; Figure 2 A schematic flowchart illustrating a vehicle parking exit processing method provided in an embodiment of this application; Figure 3 This application provides a schematic diagram of a process for mapping the identified parking space geometric information to the driving path coordinate system. Figure 4 This is a schematic diagram illustrating a process for storing information about a first parking space, provided as an embodiment of this application. Figure 5 This application provides a schematic diagram of a process for parking out of a marked parking space. Figure 6 This application provides a schematic diagram of a process for parking out of a non-marked parking space according to an embodiment of the present application; Figure 7This application provides a schematic diagram of a parking space exit process in the event of inconsistent information matching. Figure 8 This is a schematic diagram of the structure of a vehicle parking exit processing device provided in an embodiment of this application; Figure 9 This is a structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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, 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] In parking scenarios with parking space limiters, the limiters are located under the vehicle and are in the image blind spot. Existing visual recognition solutions cannot detect the limiters when parking, while solutions that infer indirectly based on driving status are prone to misjudgment due to uneven ground conditions, causing the vehicle to cross the limiter or fail to park. Therefore, this application provides a vehicle parking processing method, device, and vehicle.

[0023] The technical solution of this application will be described in detail below through specific embodiments.

[0024] As attached Figure 1 The system modules shown represent the entire vehicle parking exit process, which relies on the coordinated operation of the vehicle's intelligent parking controller, ultrasonic radar, surround-view camera, gateway, engine management system, electronic shifter, vehicle stability system, transmission system, electric power steering system, and intelligent cockpit domain controller assembly. For example, in a specific implementation scenario, the intelligent parking controller and fisheye camera are connected via coaxial cable harnesses, and the controller is connected to the ultrasonic radar via hard-wired communication. The intelligent parking controller operates on the ADAS CAN (Advanced Driver Assistance Systems CAN bus). The engine management system, electronic shifter, vehicle stability system, transmission system, and electric power steering system operate on the C CAN (Chassis CAN) bus. The intelligent cockpit domain controller assembly operates on the I CAN (Infotainment / Interior CAN) bus. The gateway can convert signals between C CAN, I CAN, and ADAS CAN to ensure communication between the various CAN signals.

[0025] Among them, the surround view camera provides video stream, the intelligent cockpit domain controller assembly provides GPS location information, the gateway provides vehicle speed and vehicle information and control signals, and the intelligent parking controller receives the above information and realizes the functions of three major modules: identification triggering, limiter information processing and parking exit execution through the gateway, engine management system, electronic shifting, vehicle stability system, transmission system and electric power steering system.

[0026] Figure 2 This is a flowchart illustrating a vehicle parking exit processing method provided in an embodiment of this application; see reference. Figure 2 As shown, the method includes the following steps S10-50: Step S10: During the vehicle parking process, a driving path coordinate system is constructed based on the vehicle's location, and the identified parking space geometric information is mapped to the driving path coordinate system.

[0027] Based on GPS positioning to confirm that the vehicle is on a non-main road, a driving path coordinate system is constructed with the center of the vehicle's rear axle as the origin, and the identified parking space geometric information (including the location of parking space corner points, the presence and location of limiters) is mapped into this coordinate system.

[0028] Step S20: After determining that the vehicle has completed parking in the parking space, calculate the first parking space information in the driving path coordinate system and store the first parking space information.

[0029] The first parking space information includes the parking space type, and the position information of the limit switch in the case of the parking space having no limit switch and the limit switch in the case of the parking space having a limit switch. After the vehicle completes parking, the system determines which parking space the vehicle has parked in based on the matching relationship between the vehicle's final position in the coordinate system and the corner point of the parking space, and stores the type of the parking space and the relevant limit switch information.

[0030] Step S30: When it is determined that the vehicle starts to park, the currently identified second parking space information is matched with the stored first parking space information.

[0031] After a user activates the smart parking function, the system matches the current GPS information and parking space information with the first parking space information that has been memorized to confirm whether the parking space conditions have changed.

[0032] Step S40: If a match is found, then the parking exit path is planned and controlled to execute the parking exit based on the first parking space information or the second parking space information.

[0033] When the memory information matches the current detection information, it means that the parking space conditions have not changed, and the memory limiter information can be used directly to guide the parking exit path planning. If the memory indicates a marked parking space with a limiter, the path planning will avoid the limiter location; if the memory indicates a non-marked parking space, the path will be planned as if there were no limiters.

[0034] Step S50: If the matching is inconsistent, then the parking exit path is planned and the parking exit is executed based on the currently detected second parking space information.

[0035] When the memory information does not match the current detection information, it indicates that the parking space conditions may have changed (e.g., the vehicle has been moved), and the memory information is no longer reliable. At this time, the parking exit path is planned based on the current real-time detected second parking space information, and the presence of a limit switch is determined through a torque increase trial mechanism.

[0036] In this embodiment, the vehicle is moving at low speed when parking. If a parking space has a limit switch, it is not yet obscured by the vehicle and can be effectively identified by ultrasonic radar and cameras. By identifying and memorizing the limit switch information in advance during the parking phase (when the limit switch is still visible) and constructing a driving coordinate system, the limit switch and parking space are accurately identified. During the parking exit phase, the memorized information is directly called for path planning, fundamentally solving the problem of the limit switch being unrecognizable when it is under the vehicle. At the same time, an information matching mechanism distinguishes whether the parking space conditions have changed. A real-time detection strategy is adopted for scenarios with inconsistent matching, taking into account the safety handling in scenarios with missing information. This effectively avoids the safety risk of the vehicle crossing the limit switch and reduces parking exit failures caused by misjudgment.

[0037] Because accurately establishing the relative positional relationship between the vehicle and the parking space is crucial during vehicle parking, it's essential to effectively map sensor information such as parking limiters onto a unified spatial reference. Therefore, this technical solution proposes a mechanism for real-time construction of vehicle coordinates and simultaneous mapping of parking space information in low-speed parking scenarios. This addresses the inability to establish a quantifiable spatial correlation between parking limiter position information and vehicle position, thereby improving the accuracy of subsequent parking exit path planning.

[0038] Figure 3 This application provides a schematic diagram of a process for mapping identified parking space geometric information to the driving path coordinate system; see reference. Figure 3 As shown, step S10 above, during the vehicle parking process, constructs a driving path coordinate system based on the vehicle's location and maps the identified parking space geometric information to the driving path coordinate system, specifically including the following steps S101-S102: S101. When the vehicle is positioned on a non-main road and its speed is lower than a preset speed threshold and it is in forward gear, the vehicle position coordinates in the driving path coordinate system are calculated based on the wheel speed pulse, steering wheel angle and gear information, with the center of the rear axle of the vehicle as the origin, the direction of vehicle movement as the positive x-axis, and the direction perpendicular to the direction of movement to the right as the positive y-axis.

[0039] S102. Use ultrasonic radar and camera to collect data to determine the parking space type. If it is identified as a marked parking space and contains a limiter, calculate the corner point of the marked parking space, the presence or absence of the limiter and the position information of the limiter, and map the corner point of the parking space and the position of the limiter to the coordinate system.

[0040] For example, when the vehicle is positioned on a non-main road and its speed is below a preset speed threshold V0 (e.g., a reference value of 20 km / h) and in drive (D gear), the process of constructing a driving path coordinate system begins. Specifically, the driving path coordinate system is constructed with the center of the vehicle's rear axle at this moment as the origin, the vehicle's forward direction as the positive x-axis, and the rightward direction perpendicular to the forward direction as the positive y-axis. The vehicle's x and y coordinates in the driving path coordinate system are calculated based on wheel speed pulses, steering wheel angle, and gear information.

[0041] The vehicle's x-coordinate is calculated by accumulating the number of pulses at each sampling point, the travel distance corresponding to the sampling pulse, the direction value, and the gear value; the y-coordinate is calculated by lateral offset based on the vehicle's turning angle at each sampling point. The direction value is 1 for the positive direction and -1 for the negative direction; the gear value is 1 for forward and -1 for backward.

[0042] For example, vehicle coordinates x v 、y v The calculation is as follows: , ; in, , y v These are the vehicle coordinates. m n Let be the number of pulses at the nth sampling point, and s be the driving distance corresponding to the sampling pulse. This represents the direction value of the nth sampling point (1 for the positive direction and -1 for the negative direction). This is the gear value for the nth sampling point (1 for forward and -1 for backward). θ n Let be the vehicle rotation angle at the nth sampling point.

[0043] Simultaneously, ultrasonic radar and cameras are used to collect data to determine the parking space type. If a marked parking space is identified, the corner positions of the marked parking space, the presence or absence of a parking limiter, and the position of the parking limiter are calculated. The corner positions and limiter positions are then mapped to the driving path coordinate system. The mapping method for the corner positions and limiter positions is the same, both based on coordinate transformation according to their offset relative to the rear axle center of the vehicle.

[0044] For example, the coordinates of the corner point of the parking space are as follows: , ; in , These are the coordinates of the corner points of the parking space. l p1 , g p1 These are the positions of the parking space corners relative to the center of the vehicle's rear axle.

[0045] In this embodiment, a real-time driving coordinate system is constructed with the center of the vehicle's rear axle as the origin. The parking space corner points and limiter positions are uniformly mapped to the same coordinate system, establishing a quantifiable spatial positional relationship between the vehicle, parking space, and limiter. This provides a reliable spatial reference benchmark for accurately determining the parking space and memorizing the limiter position. At the same time, the coordinates are calculated using data from the vehicle's own sensors, such as wheel speed pulses and steering wheel angles, without relying on high-precision maps or external positioning enhancements, thus reducing system costs and deployment difficulty.

[0046] After establishing the driving path coordinate system, it is necessary to accurately determine which parking space the vehicle ultimately entered in order to associate and remember the limit switch information of the corresponding parking space with the current parking event. Existing solutions lack a mechanism for automatically determining the parking space based on coordinate matching, resulting in the inability to establish an accurate correspondence between limit switch information and specific parking spaces, thus affecting the accuracy of information retrieval during parking exit.

[0047] Figure 4 This application provides a schematic diagram of a process for storing information about a first parking space, as illustrated in an embodiment of the present application; see reference. Figure 4 As shown, in this embodiment, step 20, after determining that the vehicle has completed parking in the parking space, calculates the first parking space information in the driving path coordinate system and stores the first parking space information, specifically includes the following steps S201-S202: S201. Determine the vehicle parking status based on the matching relationship between the vehicle position coordinates and the corner points of the parking space. If the vehicle position coordinates fall within the range of the four corner points of the target parking space, then determine that the vehicle has parked in the parking space.

[0048] S202. After determining that the vehicle has entered the parking space, store the parking space type, vehicle position coordinates, and limiter position information.

[0049] In this embodiment, the vehicle's parking status is determined based on the matching relationship between the vehicle's position coordinates and the corner points of the parking space. When the vehicle's real-time coordinates in the driving path coordinate system fall within the coordinate range of the four corner points of the target parking space P1, it is determined that the vehicle has parked in parking space P1.

[0050] After determining that a vehicle has parked in the parking space, the system stores the parking space type, vehicle location coordinates, presence and absence of limit switches, and limit switch location information. Specifically, this includes the following scenarios: When a vehicle's coordinates match the corner point of a marked parking space, the vehicle is determined to park in the marked parking space. For example, when... , At the four corners of parking space P1 , If the vehicle is parked in space P1, the parking space type, GPS location, presence or absence of a limit switch, and limit switch location information will be stored.

[0051] When the vehicle coordinates do not match the corner point of the parking space, and no marked parking space is identified, the vehicle is determined to be parked in an ultrasonic parking space (non-marked parking space), and the parking space type is stored as ultrasonic parking space. Ultrasonic parking spaces usually do not have limit switches, so there is no need to store limit switch information.

[0052] Furthermore, in this implementation, the parking space is automatically determined by matching the vehicle coordinates with the corner points of the parking space, thus achieving an accurate association between the limit switch information and the specific parking space. At the same time, the limit switch information is stored hierarchically according to the parking space type. The marked parking spaces store complete limit switch position information, while the unmarked parking spaces only store the parking space type, ensuring that the correct parking exit strategy can be selected according to the parking space type when parking out.

[0053] Because ultrasonic radar and cameras may have perception biases during a single data acquisition, such as ranging errors or viewpoint obstruction, directly using single-frame perception data as limit switch position information for storage may result in inaccurate limit switch position recording, which in turn may lead to deviations in path planning when parking out, affecting obstacle avoidance performance.

[0054] In one possible embodiment of this application, after determining that the vehicle has entered the parking space, step S202, storing the parking space type, vehicle position coordinates, presence or absence of a limit switch, and limit switch position information, specifically includes the following step A10: Step A10: After determining that the vehicle is parked in place, continuously collect multiple frames of parking space corner point and limiter position perception data, perform weighted fusion calculation on the multiple frames of position perception data, and store the parking space type, vehicle position coordinates and limiter position obtained after fusion calculation as the first parking space information.

[0055] In this embodiment, after determining that the vehicle is parked in place, instead of directly using single-frame perception data, multiple frames of parking space corner point and limiter position perception data are continuously collected, and weighted fusion calculation is performed on the multiple frames of position data to correct perception deviation.

[0056] For example, for multiple frames of continuously acquired data, weights are assigned according to the confidence level of each frame, with frames having higher confidence levels receiving greater weights. A weighted average is then calculated for the parking space corner coordinates and limit switch position coordinates to obtain the fused position data. The fused parking space type, vehicle position coordinates, limit switch status, and corrected position information are stored as the first parking space information.

[0057] For example, when a vehicle passes a parking space at low speed, the detection distance of the ultrasonic radar and camera for the same limiter may fluctuate by 5-10cm in different frames. By weighted fusion of data from multiple frames, the positional deviation can be reduced to within 2cm.

[0058] Furthermore, in this embodiment, by weighted fusion calculation of multi-frame perception data, the perception deviation of a single acquisition is effectively corrected, the recording accuracy of the limiter position information is improved, and the accuracy of parking exit path planning is enhanced, ensuring that the vehicle can accurately avoid the limiter when parking, thus enhancing the safety and reliability of the solution.

[0059] Figure 5 This application provides a schematic diagram illustrating the process of parking out of a marked parking space; see reference. Figure 5 As shown, in this embodiment, if the above step S40 matches, then parking exit path planning and control are performed based on the first parking space information or the corresponding second parking space information, including the following steps S401-403: S401. When the second parking space information matches the stored first parking space information and is determined to be a marked parking space, a parking exit path is planned by combining the real-time detected environmental boundary conditions and the pre-memorized limiter information.

[0060] S402. During the parking process, the electric power steering system is controlled to complete the steering action, the electronic shift system is controlled to complete the shifting action, and the vehicle forward, backward and stop are controlled in coordination with the vehicle stability system and the engine management system, and the vehicle travels at a preset speed according to the parking path.

[0061] S403. When the planned target distance of the vehicle is less than or equal to a set distance threshold and the vehicle attitude angle is less than or equal to a set angle threshold, the parking exit is determined to be completed; wherein, the planned target distance is the relative distance from the center of the rear axle of the vehicle to the parking exit target termination position.

[0062] Even when the parking space is matched and marked with lines, although the position information of the limit switch has been memorized, the memorized limit switch position still needs to be combined with the real-time environmental boundary conditions during the parking process to plan a parking path that avoids the limit switch while adapting to the current environment. At the same time, multiple vehicle control subsystems need to be coordinated to complete steering, gear shifting, braking and other actions during the parking process, and the parking process needs to be determined at the appropriate time.

[0063] Therefore, in this embodiment, when the second parking space information matches the memorized first parking space information and is determined to be a marked parking space, a parking exit path is planned by combining the real-time detected environmental boundary conditions with the pre-memorized limiter information. Since the precise location information of the limiters is already available, the parking exit path can effectively avoid the limiters, preventing vehicles from crossing them.

[0064] For example, when a user actively activates the intelligent parking function again, the intelligent parking system determines that the current parking space is an exit position. The system matches the currently identified GPS information and parking space information with previously stored information. If the information matches and the space is a marked parking space, the system plans a path for exiting the parking space based on the currently detected boundary conditions and the stored limit switch information. During intelligent parking, the electric power steering system is controlled to perform steering, the electronic shift system to perform gear shifting, and the vehicle stability system and engine management system are controlled to move the vehicle forward, backward, or to a stop. The vehicle maintains a set speed. When the planned target distance DTH is less than or equal to a set distance threshold X0 (e.g., a reference value of 0.3m), and the vehicle's attitude angle is less than or equal to a set angle threshold A0 (e.g., a reference value of 3°), the parking is considered complete. The planned target distance is the relative distance from the center of the vehicle's rear axle to the target exit position.

[0065] This embodiment combines pre-memorized limiter position information with real-time environmental boundary conditions to plan the parking exit path, ensuring that the parking exit path considers both limiter obstacle avoidance and adapts to the current actual environment, thus achieving safe and reliable parking exit control. Through multi-system coordinated control of steering, gear shifting, and braking, and determining the completion of parking under the dual conditions of target distance and attitude angle, the accuracy and safety of the parking exit process are guaranteed.

[0066] In scenarios where the parking space is matched and is not marked, such parking spaces usually do not have limiters. However, when a vehicle encounters uneven ground during the parking process, it may experience abnormal stopping and starting in reverse gear. Existing solutions may easily misinterpret this as a limiter obstruction and enter the limiter processing logic, causing the parking to terminate prematurely and reducing the success rate of parking.

[0067] Figure 6 This application provides a schematic diagram of a process for parking out of a non-marked parking space, as illustrated in an embodiment of the present application; see reference. Figure 6 As shown, in step S40 above, if a match is found, the parking exit path planning and control execution are performed based on the first parking space information, including the following steps S404-S406: S404. If the second parking space information matches the first parking space information and is determined to be a non-marked parking space, then plan the parking exit path based on the boundary conditions detected in real time. S405. When the vehicle speed is zero, the gear is reverse, and the road slope is greater than the slope setting value, it indicates that the vehicle has entered the slope condition, and the engine management system is controlled to increase the output torque to continue parking. S406. If the vehicle still cannot move after the torque exceeds the safety setting value, then terminate this parking operation.

[0068] In this embodiment, if the second parking space information matches the first parking space information and is determined to be a non-marked parking space, a parking exit path is planned based on the boundary conditions detected in real time. Since non-marked parking spaces do not have limit switches by default, the system does not enter the limit switch recognition logic.

[0069] During the parking maneuver, when the vehicle speed is zero, the gear is in reverse (R), and the road slope is greater than the slope setting value P0 (reference setting value 3%), it indicates that the vehicle has entered a slope parking condition. The engine management system is then controlled to increase the output torque to continue parking. At this time, the system processes the vehicle as a slope parking maneuver, rather than a limit switch maneuver.

[0070] If the vehicle still cannot move after the torque exceeds the safety setting value Ns, the parking operation will be terminated for safety reasons.

[0071] This embodiment effectively avoids the problem of misinterpreting abnormal vehicle movement in reverse gear due to uneven ground as being blocked by a limit switch by using a ramp torque-increasing strategy instead of limit switch logic in non-marked parking space scenarios. This ensures that parking operations can still be completed normally on uneven surfaces such as ramps, thus improving the success rate of parking. At the same time, a safety setting value is set as the upper limit of torque increase to prevent vehicle or personnel safety issues caused by excessive torque increase.

[0072] When the stored information does not match the current detection information (e.g., the vehicle is pushed or moved by someone after parking), the stored limit switch information may no longer be accurate, even though the parking space where the vehicle is located may still actually have a limit switch. In this case, the stored information cannot be used directly, nor can the assumption of no limit switch be made. A safe and reliable mechanism is needed to determine whether a limit switch exists and to formulate an appropriate parking exit strategy.

[0073] Figure 7 This application provides a schematic diagram illustrating a parking space exit process in the event of inconsistent information matching; see also... Figure 7 As shown, in step S50 above, if the matching is inconsistent, the parking exit path planning and control execution are performed based on the currently detected second parking space information, including S501-S504: S501. If the second parking space information does not match the stored first parking space information, then plan the parking exit path based on the boundary conditions detected in real time. S502. When the vehicle is stationary and in reverse gear and the road slope is greater than the slope setting value, it indicates that the vehicle has entered the slope condition, and the engine management system is controlled to increase the output torque. S503. If the output torque exceeds the slope compensation setting value and the vehicle still cannot move, it is determined that there is a limit switch on site, and the parking path is replanned based on the real-time boundary conditions and the parking is executed. S504. When the planned target distance of the vehicle is less than or equal to a set distance threshold and the vehicle attitude angle is less than or equal to a set angle threshold, it is determined that the parking exit is completed.

[0074] In this embodiment, if the second parking space information does not match the memorized first parking space information, a parking exit path is planned based on the real-time detected boundary conditions. During the parking exit process, when the vehicle is stationary, in reverse gear, and the road slope is greater than the slope setting value P0, the vehicle enters the slope condition, and the engine management system is controlled to increase the output torque to continue parking.

[0075] If the torque exceeds the slope compensation setting value Np and the vehicle still cannot move, it is determined that a limit switch exists on site. At this time, the parking path is replanned based on the real-time boundary conditions and the parking is executed. When the planned target distance is less than or equal to X0 (for example, the setting value is 0.3m) and the vehicle angle is less than or equal to A0 (for example, the setting value is 3°), the parking is determined to be complete.

[0076] In this embodiment, the core logic of the torque-increasing probing mechanism is as follows: if the vehicle can move after torque increase, it means that the resistance comes from the ramp, and it can continue to park normally; if the vehicle still cannot move after torque increase, it means that it has encountered rigid obstacles such as limiters, and it is necessary to replan the path to bypass it.

[0077] Unlike the previous embodiment where the second parking space information matched the first parking space information and was determined to be a non-marked parking space, the purpose of increasing torque in this embodiment is to distinguish between limiters and ramps: in the scenario of non-marked parking spaces, increasing torque is to overcome the resistance of the ramp and continue parking, while in this scenario, increasing torque is to test and determine whether there is a limiter. The two settings are also different: Np is the slope compensation setting value, used to distinguish between limiters and ramps; Ns is the safety setting value, used to protect vehicle safety.

[0078] Therefore, in this embodiment, the presence or absence of the limit switch is dynamically determined in the case of information mismatch by using the torque increase probing mechanism. This avoids the safety risks caused by blindly using potentially invalid memory information, and also avoids the problem of exceeding the limit switch that may be caused by simply assuming that there is no limit switch and directly parking. After increasing the torque, the path is replanned to ensure that the limit switch can be safely avoided when it is indeed present, thus balancing safety and parking success rate.

[0079] The parking space type and limit switch information stored in a vehicle's memory are only valid within the current parking-in-parking-out cycle. If the vehicle moves after parking and re-parks in another space, the previously stored information is no longer applicable. Failure to clear this information may result in the incorrect use of expired limit switch information during subsequent parking exits, causing path planning errors.

[0080] In one possible embodiment of this application, the above method further includes the following step B10: Step B10: After the vehicle leaves the parking space, clear the stored information of the first parking space.

[0081] Once a vehicle leaves a parking space, i.e., when the vehicle detects that it has moved at a certain speed, the stored information about the first parking space is cleared. Specifically, after a vehicle has finished parking, if it is subsequently detected that it has moved at a certain speed (e.g., the user manually drives the vehicle away), the stored parking space and limit switch information is cleared to ensure that the stored information always corresponds to the current parking space status.

[0082] By promptly clearing the memorized parking space and limit switch information after a vehicle moves, the system avoids interference from expired information with subsequent parking operations, ensuring that the memorized information recalled each time a vehicle parks is the most recent valid information from when it entered the parking space, thus improving the reliability and safety of the solution.

[0083] Figure 8 This is a schematic diagram of the structure of a vehicle parking exit processing device provided in an embodiment of this application; see reference. Figure 8 As shown, the vehicle parking exit processing device provided in this embodiment includes: The mapping module 801 is used to construct a driving path coordinate system based on the vehicle's position during the vehicle parking process, and to map the identified parking space geometric information to the driving path coordinate system. The storage module 802 is used to calculate and store the first parking space information in the driving path coordinate system after determining that the vehicle has completed parking in the parking space; wherein, the first parking space information includes the parking space type, the presence of an unlimited limit switch inside the parking space, and the limit switch position information when there is a limit switch. The matching module 803 is used to match the currently identified second parking space information with the stored first parking space information when it is determined that the vehicle starts to park from the parking space; The first execution module 804 is used to plan and control the parking exit path based on the first parking space information or the second parking space information if a match is found. The second execution module 805 is used to plan and control the parking exit path based on the currently detected second parking space information if the matching is inconsistent.

[0084] In one possible implementation of this application, the mapping module 801 specifically includes: The first calculation unit is used to calculate the vehicle position coordinates in the driving path coordinate system when the vehicle is located on a non-main road, the vehicle speed is lower than a preset speed threshold and it is in forward gear, with the center of the rear axle of the vehicle as the coordinate origin, the vehicle's forward direction as the positive x-axis, and the rightward direction perpendicular to the forward direction as the positive y-axis, based on wheel speed pulses, steering wheel angle and gear information. The second calculation unit is used to determine the parking space type by collecting data from ultrasonic radar and camera. If it is identified as a marked parking space, it calculates the corner point of the marked parking space, the presence or absence of the limiter and the position information of the limiter, and maps the corner point of the parking space and the position of the limiter to the coordinate system.

[0085] In one embodiment of this application, the storage module 802 specifically includes: The determination unit is used to determine the parking status of the vehicle based on the position matching relationship between the vehicle position coordinates and the corner points of the parking space. If the vehicle position coordinates fall within the range of the four corner points of the target parking space, the vehicle is determined to be parked in the parking space. The storage unit is used to determine the type of parking space, the coordinates of the vehicle's position, the status of the limit switch, and the position information of the limit switch after the vehicle has been parked in the parking space.

[0086] In one embodiment of this application, the above-mentioned storage unit is specifically used for: After determining that the vehicle is parked in place, multiple frames of parking space corner point and limiter position perception data are continuously collected. The multiple frames of position data are weighted and fused to correct perception deviations. The parking space type, vehicle position coordinates, limiter status and corrected position information obtained after fusion calculation are stored as the first parking space information.

[0087] In one embodiment of this application, the first execution module 804 is specifically used for: When the second parking space information matches the memorized first parking space information and is determined to be a marked parking space, the parking exit path is planned by combining the real-time detected environmental boundary conditions and the pre-memorized limiter information. During the parking process, the electric power steering system is controlled to complete the steering action, the electronic shift system is controlled to complete the shifting action, and the vehicle stability system and engine management system work together to control the vehicle to move forward, backward and stop, and travel at a preset speed according to the parking path. When the planned target distance of the vehicle is less than or equal to a set distance threshold and the vehicle attitude angle is less than or equal to a set angle threshold, the parking exit is determined to be completed; wherein, the planned target distance is the relative distance from the center of the rear axle of the vehicle to the parking exit target termination position.

[0088] In one embodiment of this application, the first execution module 804 is specifically used for: If the second parking space information matches the first parking space information and is determined to be a non-marked parking space, then a parking exit path is planned based on the boundary conditions detected in real time. When the vehicle speed is zero, the gear is reverse, and the road slope is greater than the slope setting value, it indicates that the vehicle has entered the slope condition, and the engine management system is controlled to increase the output torque to continue parking. If the vehicle still cannot move after the torque exceeds the safety setting value, the parking operation will be terminated.

[0089] In one embodiment of this application, the second execution module 805 is specifically used for: If the second parking space information does not match the memorized first parking space information, then the parking exit path is planned based on the boundary conditions detected in real time. When the vehicle is stationary, in reverse gear, and the road slope is greater than the set slope value, it enters the slope condition and controls the engine management system to increase the output torque. If the torque exceeds the slope compensation setting and the vehicle still cannot move, it is determined that there is a limit switch on site, and the parking path is replanned based on the real-time boundary conditions and the parking is executed. When the planned target distance of the vehicle is less than or equal to a set distance threshold and the vehicle attitude angle is less than or equal to a set angle threshold, the parking exit is determined to be complete.

[0090] In one embodiment of this application, the above-mentioned apparatus further includes: A clearing module (not shown in the figure) is used to clear the stored information of the first parking space after the vehicle leaves the parking space.

[0091] In another embodiment of this application, a vehicle is also provided, the vehicle including a vehicle body and electronic equipment, see reference. Figure 9 As shown, the electronic device includes a processor 1110, a communication interface 1120, a memory 1130, and a communication bus 1140, wherein the processor 1110, the communication interface 1120, and the memory 1130 communicate with each other through the communication bus. Memory 1130 is used to store computer programs; Processor 1110, when executing a program stored in memory, implements the vehicle parking exit processing method described in any of the foregoing method embodiments, including: During the vehicle parking process, a driving path coordinate system is constructed based on the vehicle's location, and the identified parking space geometric information is mapped to the driving path coordinate system. After confirming that the vehicle has completed parking in the parking space, the first parking space information is calculated in the driving path coordinate system and stored; wherein, the first parking space information includes the parking space type, the limit switch position information when there is no limit switch inside the parking space and the limit switch position information when there is a limit switch. When it is determined that the vehicle has started to park, the currently identified second parking space information is matched with the stored first parking space information; If a match is found, the parking exit path is planned and the parking exit is executed based on the first parking space information; If the match is inconsistent, the parking exit path will be planned and controlled to execute the parking exit based on the currently detected second parking space information.

[0092] In one possible implementation, during vehicle parking, the step of constructing a driving path coordinate system based on vehicle location positioning and mapping the identified parking space geometric information to the driving path coordinate system includes: When the vehicle is positioned on a non-main road and its speed is below a preset speed threshold and it is in forward gear, the vehicle's position coordinates in the driving path coordinate system are calculated based on wheel speed pulses, steering wheel angle and gear information, with the center of the rear axle of the vehicle as the origin, the direction of the vehicle's forward movement as the positive x-axis, and the direction perpendicular to the forward movement to the right as the positive y-axis. The type of parking space is determined by collecting data using ultrasonic radar and camera. If it is identified as a marked parking space, the corner point of the marked parking space, the presence or absence of the limiter and the position information of the limiter are calculated, and the corner point and limiter position of the parking space are mapped to the coordinate system.

[0093] In one possible implementation, after determining that the vehicle has completed parking in the parking space, calculating and storing the first parking space information in the driving path coordinate system includes: The vehicle's parking status is determined based on the matching relationship between the vehicle's position coordinates and the corner points of the parking space. If the vehicle's position coordinates fall within the range of the four corner points of the target parking space, then the vehicle is determined to be parked in that parking space. After determining that the vehicle has entered the parking space, the parking space type, vehicle position coordinates, presence or absence of limit switch, and limit switch position information are stored.

[0094] In one possible implementation, after determining that the vehicle has entered the parking space, storing the parking space type, vehicle position coordinates, presence and absence of a limit switch, and limit switch position information includes: After determining that the vehicle is parked in place, multiple frames of parking space corner point and limiter position perception data are continuously collected. The multiple frames of position data are weighted and fused to correct perception deviations. The parking space type, vehicle position coordinates, limiter status and corrected position information obtained after fusion calculation are stored as the first parking space information.

[0095] In one possible implementation, if a match is found, then parking exit path planning and control execution based on the first parking space information includes: When the second parking space information matches the memorized first parking space information and is determined to be a marked parking space, the parking exit path is planned by combining the real-time detected environmental boundary conditions and the pre-memorized limiter information. During the parking process, the electric power steering system is controlled to complete the steering action, the electronic shift system is controlled to complete the shifting action, and the vehicle stability system and engine management system work together to control the vehicle to move forward, backward and stop, and travel at a preset speed according to the parking path. When the planned target distance of the vehicle is less than or equal to a set distance threshold and the vehicle attitude angle is less than or equal to a set angle threshold, the parking exit is determined to be completed; wherein, the planned target distance is the relative distance from the center of the rear axle of the vehicle to the parking exit target termination position.

[0096] In one possible implementation, if a match is found, then parking exit path planning and control execution are performed based on the first parking space information, including: If the second parking space information matches the first parking space information and is determined to be a non-marked parking space, then a parking exit path is planned based on the boundary conditions detected in real time. When the vehicle speed is zero, the gear is reverse, and the road slope is greater than the slope setting value, it indicates that the vehicle has entered the slope condition, and the engine management system is controlled to increase the output torque to continue parking. If the vehicle still cannot move after the torque exceeds the safety setting value, the parking operation will be terminated.

[0097] In one possible implementation, if the matching is inconsistent, then parking exit path planning and control execution are performed based on the currently detected second parking space information, including: If the second parking space information does not match the memorized first parking space information, then the parking exit path is planned based on the boundary conditions detected in real time. When the vehicle is stationary, in reverse gear, and the road slope is greater than the set slope value, it enters the slope condition and controls the engine management system to increase the output torque. If the torque exceeds the slope compensation setting and the vehicle still cannot move, it is determined that there is a limit switch on site, and the parking path is replanned based on the real-time boundary conditions and the parking is executed. When the planned target distance of the vehicle is less than or equal to a set distance threshold and the vehicle attitude angle is less than or equal to a set angle threshold, the parking exit is determined to be complete.

[0098] In one possible implementation, the method further includes: clearing the stored first parking space information after the vehicle leaves the parking space.

[0099] The electronic device provided in this embodiment of the invention enables the processor to execute a program stored in the memory to identify and memorize limiter information in advance during the parking phase, and to directly use the memorized limiter position information for path planning during parking exit. This effectively overcomes the defect that the limiter cannot be recognized by image when it is under the vehicle during parking exit, and avoids the safety risk of crossing the limiter.

[0100] The communication bus 1140 mentioned in the above-mentioned electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus 1140 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 9 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0101] The communication interface 1120 is used for communication between the above-mentioned electronic device and other devices.

[0102] The memory 1130 may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0103] The processor 1110 mentioned above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0104] In another embodiment of this application, a computer-readable storage medium is provided, on which a program for a vehicle parking exit processing method is stored. When executed by a processor, the program for the vehicle parking exit processing method implements the steps of the vehicle parking exit processing method described in any of the foregoing method embodiments, including: During the vehicle parking process, a driving path coordinate system is constructed based on the vehicle's location, and the identified parking space geometric information is mapped to the driving path coordinate system. After confirming that the vehicle has completed parking in the parking space, the first parking space information is calculated in the driving path coordinate system and stored; wherein, the first parking space information includes the parking space type, the limit switch position information when there is no limit switch inside the parking space and the limit switch position information when there is a limit switch. When it is determined that the vehicle has started to park, the currently identified second parking space information is matched with the stored first parking space information; If a match is found, the parking exit path is planned and the parking exit is executed based on the first parking space information; If the match is inconsistent, the parking exit path will be planned and controlled to execute the parking exit based on the currently detected second parking space information.

[0105] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0106] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A vehicle pull-out processing method characterized by comprising: include: During the vehicle parking process, a driving path coordinate system is constructed based on the vehicle's location, and the identified parking space geometric information is mapped to the driving path coordinate system. After confirming that the vehicle has completed parking in the parking space, the first parking space information is calculated in the driving path coordinate system and stored; wherein, the first parking space information includes the parking space type, the limit switch position information when there is no limit switch inside the parking space and the limit switch position information when there is a limit switch. When it is determined that the vehicle starts to park from the parking space, the currently identified second parking space information is matched with the stored first parking space information; If a match is found, the parking exit path is planned and controlled to execute the parking exit based on the first parking space information or the second parking space information; If the match is inconsistent, the parking exit path will be planned and controlled to execute the parking exit based on the currently detected second parking space information.

2. The method of claim 1, wherein, During the vehicle parking process, a driving path coordinate system is constructed based on the vehicle's location, and the identified parking space geometric information is mapped to the driving path coordinate system, including: When the vehicle is positioned on a non-main road and its speed is below a preset speed threshold and it is in forward gear, the vehicle's position coordinates in the driving path coordinate system are calculated based on wheel speed pulses, steering wheel angle and gear information, with the center of the rear axle of the vehicle as the origin, the direction of the vehicle's forward movement as the positive x-axis, and the direction perpendicular to the forward movement to the right as the positive y-axis. The type of parking space is determined by collecting data using ultrasonic radar and a camera. If the space is identified as a marked parking space and contains a limit switch, the corner point of the marked parking space and the position information of the limit switch are calculated, and the corner point and the position of the limit switch are mapped to the coordinate system.

3. The method of claim 2, wherein, After determining that the vehicle has completed parking in the parking space, the step of calculating and storing the first parking space information in the driving path coordinate system includes: The vehicle's parking status is determined based on the positional relationship between the vehicle's position coordinates and the corner points of the parking space. If the vehicle's position coordinates fall within the range of the four corner points of the parking space, then the vehicle is determined to be parked in the parking space. After determining that the vehicle has entered the parking space, the parking space type, vehicle position coordinates, and limiter position information are stored.

4. The method of claim 3, wherein, After determining that the vehicle has entered the parking space, the system stores the parking space type, vehicle position coordinates, and limiter position information, including: After determining that the vehicle is parked in place, multiple frames of parking space corner point and limiter position perception data are continuously collected. The multiple frames of position perception data are weighted and fused. The parking space type, vehicle position coordinates and limiter position obtained after fusion calculation are stored as the first parking space information.

5. The method of claim 1, wherein, If a match is found, then parking exit path planning and control are performed based on the first parking space information or the second parking space information to execute the parking exit, including: When the second parking space information matches the stored first parking space information and is determined to be a marked parking space, the parking exit path is planned by combining the real-time detected environmental boundary conditions and the pre-memorized limiter information. During the parking process, the electric power steering system is controlled to complete the steering action, the electronic shift system is controlled to complete the shifting action, and the vehicle stability system and engine management system work together to control the vehicle to move forward, backward and stop, and travel at a preset speed according to the parking path. When the planned target distance of the vehicle is less than or equal to a set distance threshold and the vehicle attitude angle is less than or equal to a set angle threshold, the parking exit is determined to be completed; wherein, the planned target distance is the relative distance from the center of the rear axle of the vehicle to the parking exit target termination position.

6. The method of claim 5, wherein, If a match is found, then parking exit path planning and control are performed based on the first parking space information or the second parking space information, including: If the second parking space information matches the first parking space information and is determined to be a non-marked parking space, then a parking exit path is planned based on the boundary conditions detected in real time. When the vehicle speed is zero, the gear is reverse, and the road slope is greater than the slope setting value, it indicates that the vehicle has entered the slope condition, and the engine management system is controlled to increase the output torque to continue parking. If the vehicle still cannot move after the torque exceeds the safety setting value, the parking operation will be terminated.

7. The method of claim 5, wherein, If the matching is inconsistent, then parking exit path planning and control execution are performed based on the currently detected second parking space information, including: If the second parking space information does not match the stored first parking space information, then a parking exit path is planned based on the boundary conditions detected in real time. When the vehicle is stationary and in reverse gear and the road slope is greater than the set slope value, it indicates that it has entered the slope condition, and the engine management system is controlled to increase the output torque. If the output torque exceeds the slope compensation setting value and the vehicle still cannot move, it is determined that there is a limit switch on site, and the parking path is replanned based on the real-time boundary conditions and the parking is executed. When the planned target distance of the vehicle is less than or equal to a set distance threshold and the vehicle attitude angle is less than or equal to a set angle threshold, the parking exit is determined to be complete.

8. The method of claim 1, wherein, The method further includes: Once the vehicle leaves the parking space, the stored information about the first parking space is cleared.

9. A vehicle exit processing device characterized by comprising: include: The mapping module is used to construct a driving path coordinate system based on the vehicle's position during the vehicle parking process, and to map the identified parking space geometric information to the driving path coordinate system. The storage module is used to calculate and store the first parking space information in the driving path coordinate system after determining that the vehicle has completed parking in the parking space; wherein, the first parking space information includes the parking space type, the limit switch position information when there is an infinite stop switch inside the parking space and the limit switch position information when there is a limit switch. The matching module is used to match the currently identified second parking space information with the stored first parking space information when it is determined that the vehicle has started to park. The first execution module is used to plan and control the parking exit path based on the first parking space information or the second parking space information if a match is found. The second execution module is used to plan and control the parking exit path based on the currently detected second parking space information if the matching is inconsistent.

10. A vehicle characterized by comprising: The vehicle comprises a vehicle body and an electronic device, the electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; The memory is used for storing a computer program; The processor is used for executing the program stored in the memory, and the vehicle parking-out processing method in any one of claims 1-8 is implemented.

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