Control methods, devices and electronic equipment

Abstract

A control method, apparatus, and electronic device are disclosed. The method includes: acquiring first map information of a first area, the first map information indicating at least one parking location and at least one non-parking location in the first area, wherein the at least one parking location and / or at least one non-parking location is determined based on the strength of a first communication signal, the first communication signal being a signal used by the vehicle to communicate with the outside world; acquiring a first instruction, the first instruction indicating that the first parking location among the at least one parking location is a target parking location; and controlling the vehicle to drive towards the target parking location according to the first instruction. The technical solution of this application can be applied to the field of intelligent vehicles such as electric vehicles and new energy vehicles. For scenarios with weak or unstable wireless communication signals, it can improve the safety of the automatic parking process and the user's parking experience.

Description

Control method, device and electronic device TECHNICAL FIELD

[0001] The present application relates to the field of intelligent driving, and more particularly, to a control method, device and electronic device. BACKGROUND

[0002] Auto parking (AP) refers to automatic parking of a vehicle into a parking space, that is, an automatic driving system can semi-automatically or fully automatically help a user to park the vehicle. Auto parking can include auto parking assist (APA), remote parking assist (RPA) and auto valet parking (AVP), etc. When AVP is used for parking at present, the wireless communication signal in part of the area of the parking lot is poor or unstable (such as in an underground parking lot), so that there is a large communication delay in data interaction between a cloud server and a vehicle, thereby causing a time delay in data interaction between the cloud server and a mobile phone, and further causing a poor user experience, and even a risk of losing control of the state of the vehicle.

[0003] In view of this, for a scenario in which the strength of the wireless communication signal is weak or unstable, a control scheme for improving safety in the process of auto parking needs to be developed.

[0004] SUMMARY

[0005] The present application provides a control method, device and electronic device, which is helpful to improve safety in the process of auto parking for a scenario in which the strength of the wireless communication signal is weak or unstable, thereby improving the parking experience of the user.

[0006] In a first aspect, the present application provides a control method, which can be executed by an electronic device or a chip or circuit for the electronic device, and the electronic device can be a terminal device such as a mobile phone, a tablet computer or a watch; or the method can also be executed by an intelligent driving device or a chip or circuit for the intelligent driving device, and the intelligent driving device can be a vehicle.

[0007] The method includes: obtaining first map information of a first area, the first map information indicating at least one parkable position and at least one non-parkable position in the first area, the at least one parkable position and / or the at least one non-parkable position being determined according to the strength of a first communication signal, the first communication signal being a signal used for communication between the vehicle and the outside world; obtaining a first instruction, the first instruction indicating that a first parkable position in the at least one parkable position is a target parking position; and controlling the vehicle to travel to the target parking position according to the first instruction.

[0008] More specifically, the first communication signal is a signal used for communication between the vehicle and the cloud server. In the at least one non-parking position, the intensity of the first communication signal is less than the intensity threshold, and in the at least one parking position, the intensity of the first communication signal is greater than or equal to the intensity threshold.

[0009] Exemplarily, the technical solution of the present application controls the vehicle to drive to a target parking position through the AVP function or the valet parking driver (VPD) function. The target parking position can include a target parking space (i.e., a parking-in position) or a temporary parking position (e.g., a specific position such as an elevator entrance in a valet parking scenario). It should be noted that the VPD function refers to an automatic parking function that does not require the user to be in the vehicle, and the user can control the vehicle to park into the target parking position by issuing a parking instruction through an electronic device (e.g., a mobile phone) associated with the vehicle.

[0010] In the above technical solution, the available parking spaces in the parking area can be determined in combination with the intensity of the wireless communication signal, so as to avoid parking the vehicle in an area with weak wireless communication signal, to ensure small communication delay between the vehicle and the cloud server during automatic parking, to improve the real-time performance of vehicle state updating during automatic parking, to improve the safety of the vehicle during automatic parking, and to improve the parking experience of the vehicle user.

[0011] In combination with the first aspect, in some implementations of the first aspect, the method further includes: controlling a display device to display first icons and second icons, the first icons being associated with the at least one parking position, and the second icons being associated with the at least one non-parking position, and the first instruction being generated in response to detecting a first operation of selecting a first icon corresponding to a first parking position.

[0012] In the above technical solution, different types of icons are used to indicate the parking positions and the non-parking positions in the automatic parking function, which helps the user to quickly determine which positions can be parked into by the automatic parking function, and improves the user experience and the efficiency of selecting a target parking position.

[0013] In combination with the first aspect, in some implementations of the first aspect, the method further includes: obtaining a second instruction, the second instruction being generated in response to detecting a second operation of selecting a second icon; and controlling a prompt device to prompt first prompt information according to the second instruction, the first prompt information being used to prompt that the position associated with the second icon is a non-parking position, and / or the first prompt information being used to prompt to select one parking position from the at least one parking position.

[0014] In some implementations, the prompting device includes the aforementioned display device, or the prompting device can also include a sound device such as a speaker, a sound box, etc.

[0015] In the technical solution described above, when it is detected that the user selects the unparkable position, the user is prompted that the parking space is not selectable and / or the reason why it is not selectable, so that the user reselects a parkable position as the target parking position, which helps to improve the efficiency of selecting the target parking position.

[0016] In combination with the first aspect, in some implementations of the first aspect, the display device displays the first type of icons and the second type of icons through the first interface, and the method further includes: when it is detected that the third operation of selecting the second type of icons is performed on the first interface while the first interface is displayed, controlling the first interface to remain unchanged for a first time length, the first time length being a time length between a time when the third operation is detected and a time when a fourth operation is detected, the fourth operation being an operation performed on the first interface and being the nearest neighbor of the third operation; or when it is detected that the first operation is performed while the first interface is displayed, controlling the first interface to display a third type of icon corresponding to the first parkable position, the third type of icon indicating a position of the target parking position in the first region.

[0017] In some implementations, the third operation and the fourth operation can be the same operation, or can be different operations.

[0018] In the technical solution described above, when it is detected that the user selects the icon corresponding to the unparkable position, the icon cannot be selected, so as to avoid selecting the unparkable position as the target parking position, thereby avoiding the risk caused by a large communication time delay in the parking process. When it is detected that the user selects the icon corresponding to the parkable position, a different icon is used to represent the selected parkable position, which helps to make the target parking position in the first region more eye-catching, so that the user can more quickly determine the position of the target parking position in the first region.

[0019] In combination with the first aspect, in some implementations of the first aspect, the first region includes a first sub-region, the first map information further indicates that the intensity of the first communication signal in the first sub-region is less than or equal to an intensity threshold, the path of the vehicle driving to the target parking position includes a first sub-path and a second sub-path, the first sub-path passes through the first sub-region, and the intensity of the first communication signal in the region passed through by the second sub-path is greater than the intensity threshold; and the method further includes: controlling the display device to display a first path icon and a second path icon, the first path icon indicating the first sub-path, and the second path icon indicating the second sub-path, the first path icon and the second path icon being different in at least one of color and line type.

[0020] In some implementations, the display device and the aforementioned display device are the same.

[0021] Exemplarily, the first path icon is in color 1, and the second path icon is in color 2; and / or the first path icon is in line type 1 (such as a dashed line), and the second path icon is in line type 2 (such as a solid line).

[0022] In the technical solution, the paths with different wireless communication signal strengths are displayed by icons with different colors and / or line types, which helps the user quickly determine the location of the area with weak wireless communication signal, so that the user can pay attention to the vehicle status at all times when the vehicle is driving to the area with weak wireless communication signal, and can take over the vehicle if necessary, which helps improve driving safety.

[0023] In combination with the first aspect, in some implementations of the first aspect, the method further includes: when the vehicle is driving to the first sub-area, controlling the prompting device to prompt second prompting information, the second prompting information being used to prompt at least one of the following: that the strength of the first communication signal in the first sub-area is less than or equal to the strength threshold value; the length of the first sub-path; the remaining length of the first sub-path; the motion state of the vehicle; the image of the environment around the vehicle; or, the state of paying attention to the vehicle.

[0024] In the technical solution, when the vehicle is driving to the area with weak wireless communication signal, the user is prompted with relevant information, which helps the user pay attention to the vehicle status at all times, and can take over the vehicle if necessary, which helps improve driving safety.

[0025] In combination with the first aspect, in some implementations of the first aspect, the method further includes: controlling the vehicle to drive along the first sub-path at a first speed, and controlling the vehicle to drive along the second sub-path at a second speed; wherein the first speed is less than the second speed.

[0026] In the technical solution, when the vehicle is driving to the area with weak wireless communication signal, the vehicle is controlled to drive at a slower speed, so that when the communication time delay increases due to the weak wireless communication signal, the risk of the vehicle state out of control is also reduced, which helps improve safety during parking.

[0027] In combination with the first aspect, in some implementations of the first aspect, the path along which the vehicle drives to the target parking position includes a first path and a second path, and the method further includes: when the first path passes through an area where the strength of the first communication signal is less than or equal to the strength threshold value, and the second path does not pass through an area where the strength of the first communication signal is less than or equal to the strength threshold value, controlling the vehicle to drive along the second path to the target parking position; or when the length of the part of the first path where the strength of the first communication signal is less than or equal to the strength threshold value is greater than or equal to a length threshold value, and the second path does not have a part where the strength of the first communication signal is less than or equal to the strength threshold value and the length is greater than or equal to the length threshold value, controlling the vehicle to drive along the second path to the target parking position.

[0028] In the technical solution, when planning a path for driving to the target parking position, the area with weak wireless communication signal strength is avoided, which helps improve parking efficiency and safety during parking.

[0029] With reference to the first aspect, in some implementations of the first aspect, when the first type of icon corresponding to the second parking space in the at least one parking space is detected to be selected, a driving path of the vehicle from the current position to the second parking space is determined; when a portion of the driving path in which the first communication signal strength is less than or equal to the strength threshold is greater than or equal to the proportion threshold, the prompting device is controlled to prompt third prompt information, and the third prompt information is used to prompt at least one of the following: the second parking space is unreachable, or the target parking position is reselected.

[0030] For example, the proportion threshold can be 50%, or 60%, or other numerical values.

[0031] In the technical solution, the target parking position selected by the user is a parking space under the automatic parking function, but there are many or long weak signal areas between the current position of the vehicle and the target parking position selected by the user, so that when the vehicle drives to the selected target parking position, the risk of vehicle state out of control is relatively large. At this time, the user can be prompted to reselect the parking space to reduce the risk of vehicle state out of control during parking.

[0032] In a second aspect, a control device is provided, which includes a first acquisition unit, a second acquisition unit, and a processing unit. The first acquisition unit is configured to acquire first map information of a first area, the first map information indicating at least one parking space and at least one non-parking space in the first area, the at least one parking space and / or the at least one non-parking space being determined according to a strength of a first communication signal, the first communication signal being a signal used for communication between a vehicle and an external environment. The second acquisition unit is configured to acquire a first instruction, the first instruction indicating that a first parking space in the at least one parking space is a target parking position. The processing unit is configured to control the vehicle to drive to the target parking position according to the first instruction.

[0033] With reference to the second aspect, in some implementations of the second aspect, the processing unit is further configured to control a display device to display a first type of icon and a second type of icon, the first type of icon being associated with the at least one parking space, the second type of icon being associated with the at least one non-parking space, and the first instruction being generated based on a first operation of detecting selection of the first type of icon corresponding to the first parking space.

[0034] With reference to the second aspect, in some implementations of the second aspect, the second obtaining unit is further configured to: obtain a second instruction generated in response to detecting the second operation of selecting the second type of icon; and the processing unit is further configured to: control the prompting device to prompt the first prompt information according to the second instruction, the first prompt information being used to prompt that the position associated with the second type of icon is the unparkable position, and / or the first prompt information being used to prompt to select one of the at least one parkable position.

[0035] With reference to the second aspect, in some implementations of the second aspect, the display device displays the first type of icon and the second type of icon through the first interface, and the device further comprises a detecting unit, and the processing unit is further configured to: when the detecting unit detects a third operation of selecting the second type of icon while displaying the first interface, control the first interface to remain unchanged for a first time length, the first time length being a time length between a time of detecting the third operation and a time of detecting a fourth operation, the fourth operation being an operation on the first interface that occurs after the third operation and is closest to the third operation; or when the detecting unit detects the first operation while displaying the first interface, control the first interface to display a third type of icon corresponding to the first parkable position, the third type of icon indicating a position of the target parking position in the first region.

[0036] With reference to the second aspect, in some implementations of the second aspect, the first region comprises a first sub-region, the first map information further indicates that the intensity of the first communication signal in the first sub-region is less than or equal to an intensity threshold, and the path for the vehicle to travel to the target parking position comprises a first sub-path and a second sub-path, the first sub-path passing through the first sub-region, and the intensity of the first communication signal in a region passed through by the second sub-path being greater than the intensity threshold; and the processing unit is further configured to: control the display device to display a first path icon and a second path icon, the first path icon indicating the first sub-path, and the second path icon indicating the second sub-path, the first path icon being different from the second path icon in at least one of color and line type.

[0037] With reference to the second aspect, in some implementations of the second aspect, the processing unit is further configured to: when the vehicle travels to the first sub-region, control the prompting device to prompt second prompt information, the second prompt information being used to prompt at least one of: the intensity of the first communication signal in the first sub-region is less than or equal to the intensity threshold; the length of the first sub-path; the remaining length of the first sub-path; the motion state of the vehicle; the image of the environment around the vehicle; or the state of paying attention to the vehicle.

[0038] With reference to the second aspect, in some implementations of the second aspect, the processing unit is further configured to: control the vehicle to travel along the first sub-path at a first speed, and control the vehicle to travel along the second sub-path at a second speed; and wherein the first speed is less than the second speed.

[0039] In some embodiments of the second aspect, the path for the vehicle to travel to the target parking position comprises a first path and a second path, and the processing unit is further configured to: control the vehicle to travel to the target parking position along the second path when the first path passes through a region where the intensity of the first communication signal is less than or equal to the intensity threshold and the second path does not pass through the region where the intensity of the first communication signal is less than or equal to the intensity threshold; or control the vehicle to travel to the target parking position along the second path when a length of a portion of the first path where the intensity of the first communication signal is less than or equal to the intensity threshold is greater than or equal to the length threshold and the second path does not have a portion where the intensity of the first communication signal is less than or equal to the intensity threshold and the length of the portion is greater than or equal to the length threshold.

[0040] In a third aspect, a control apparatus is provided, which comprises a processor configured to execute a computer program stored in a memory to cause the apparatus to perform the method in any possible implementation of the first aspect.

[0041] In some embodiments of the third aspect, the control apparatus further comprises the memory.

[0042] In a fourth aspect, an electronic device is provided, which comprises the apparatus in any possible implementation of the second or third aspect.

[0043] In a fifth aspect, an intelligent driving device is provided, which comprises the apparatus in any possible implementation of the second or third aspect.

[0044] In some embodiments of the fifth aspect, the intelligent driving device is a vehicle.

[0045] In a sixth aspect, a computer program product is provided, which comprises computer program codes, when the computer program codes are executed on a computer or a processor, cause the computer or the processor to perform the method in any possible implementation of the first aspect.

[0046] It should be noted that the computer program codes can be stored in whole or in part on a storage medium, wherein the storage medium can be packaged together with the processor or packaged separately from the processor.

[0047] In a seventh aspect, a computer readable medium is provided, which stores instructions, when the instructions are executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect.

[0048] In an eighth aspect, a chip is provided, which comprises a circuit configured to perform the method in any possible implementation of the first aspect.

[0049] The beneficial effects not described in the second aspect to the eighth aspect can be referred to the description in the first aspect, which will not be described here again. BRIEF DESCRIPTION OF DRAWINGS

[0050] FIG. 1 is a schematic block diagram of a control system according to an embodiment of the present application;

[0051] FIG. 2 is a schematic diagram of a hardware architecture of an electronic device according to an embodiment of the present application;

[0052] FIG. 3 is a schematic diagram of a software architecture of an electronic device according to an embodiment of the present application;

[0053] FIG. 4 is a schematic diagram of an information interaction process in a control process according to an embodiment of the present application;

[0054] FIG. 5 is a schematic diagram of an application scenario of a control method according to an embodiment of the present application;

[0055] FIG. 6 is a schematic diagram of a GUI according to an embodiment of the present application;

[0056] FIG. 7 is another schematic diagram of a GUI according to an embodiment of the present application;

[0057] FIG. 8 is still another schematic diagram of a GUI according to an embodiment of the present application;

[0058] FIG. 9 is still another schematic diagram of an application scenario of a control method according to an embodiment of the present application;

[0059] FIG. 10 is still another schematic diagram of a GUI according to an embodiment of the present application;

[0060] FIG. 11 is a schematic flowchart of a control method according to an embodiment of the present application;

[0061] FIG. 12 is a schematic block diagram of a control apparatus according to an embodiment of the present application;

[0062] FIG. 13 is another schematic block diagram of a control apparatus according to an embodiment of the present application. DETAILED DESCRIPTION

[0063] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0064] FIG. 1 is a schematic block diagram of a control system according to an embodiment of the present application. As shown in FIG. 1, the system includes an electronic device 100, an intelligent driving device 200, and a server 300. The intelligent driving device 200 can include a perception system 220, a display device 230, a communication system 240, and a computing platform 250. The perception system 220 can include several sensors for sensing information of an environment around the intelligent driving device 200. For example, the perception system 220 can include a positioning system, which can be a global positioning system (GPS), a Beidou system, or other positioning systems. For another example, the perception system 220 can also include one or more of an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0065] The display device 230 in the cockpit of the intelligent driving device 200 mainly includes two types. The first type is a vehicle-mounted display screen. The second type is a projection display screen, such as a head up display (HUD). The vehicle-mounted display screen is a physical display screen and is an important component of a vehicle information entertainment system. Multiple display screens can be provided in the cockpit, such as a digital instrument display screen and a central control screen. In some possible implementations, one or more of the vehicle-mounted display screens can be a human machine interface (HMI), for example, the central control screen can be an HMI. The head up display, also known as a head-up display system, is mainly used for displaying driving information such as speed and navigation on a display device in front of the driver, for example, a windshield. This can reduce the time for the driver to change the line of sight and avoid changes in the pupil caused by the driver changing the line of sight, thereby improving driving safety and comfort. The HUD includes, for example, a combiner-HUD (C-HUD) system, a windshield-HUD (W-HUD) system, and an augmented reality HUD (AR-HUD).

[0066] The communication system 240 of the intelligent driving device 200 can be one or more devices integrated with at least one communication processing module. The communication system 240 can receive and transmit electromagnetic waves through an antenna, so that the intelligent driving device 200 can communicate with the electronic device 100, the cloud server 300, and the like through wireless communication technology. The wireless communication technology can include mobile communication technology such as global system of mobile communication (GSM), code division multiple access (CDMA), wideband code division multiple access (WCDMA), general packet radio service (GPRS), or long term evolution (LTE), or the wireless communication technology can also include wireless short-range communication technology such as Bluetooth (BT) communication technology, radio frequency identification (RFID) communication technology, and the like. For example, the communication system 240 can include a telematics box (T-box), or can further include other communication modules. In actual implementation, the intelligent driving device 200 communicates with the cloud server 300 through the T-box. The wireless communication signals used by different intelligent driving devices to communicate with the cloud server 300 can be the same (for example, wireless communication signals of the same network operator) or different (for example, wireless communication signals of different network operators).

[0067] Part or all of the functions of the intelligent driving device 200 can be controlled by the computing platform 250. The computing platform 250 can include processors 252 to 25n, which are circuits having processing capabilities of signals. In one implementation, the processor can be a circuit having instruction reading and running capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a kind of microprocessor), or a digital signal processor (DSP), etc. In another implementation, the processor can implement certain functions through a logical relationship of hardware circuits, which is fixed or can be reconfigured, such as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD) implemented hardware circuit, such as a field programmable gate array (FPGA). In the reconfigurable hardware circuit, the processor loads the configuration document to implement the hardware circuit configuration process, which can be understood as the process of the processor loading instructions to implement the functions of the above part or all units. In addition, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as a kind of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 250 can also include a memory for storing instructions, and part or all of the processors 252 to 25n can call the instructions in the memory to implement corresponding functions.

[0068] In the embodiments of the present application, during the driving of the plurality of intelligent driving devices 200 in a parking area, the perception system 220 can collect the environmental information of the parking area, and send the collected environmental information to the server 300. The server 300 can construct a map of the parking area according to the environmental information from the plurality of intelligent driving devices 200. For example, the environmental information can include images, laser point clouds, etc. The server 300 can construct the map based on simultaneous localization and mapping (SLAM or concurrent mapping and localization, CML). In addition, during the driving of the plurality of intelligent driving devices 200 in the above parking area, the communication system 240 can collect the signal strength of each position in the parking area, and send the collected signal strength to the server 300. According to the signal strength from the plurality of intelligent driving devices 200, the server 300 can determine that the parking position with signal strength meeting the condition in the parking area is the AVP parkable position (i.e., the intelligent driving device can be parked into or out of the parking position by the AVP), and the parking position with signal strength not meeting the condition in the parking area is the AVP non-parkable position; or when the AVP parkable position in the parking area is too small, it can be determined that the parking area does not support the AVP. Further, the map of the parking area with signal strength is constructed. After the map is constructed, the server 300 can send the map of the parking area with signal strength to the intelligent driving device 200 and the electronic device 100, so that the user of the intelligent driving device 200 and the electronic device 100 knows whether the parking area supports the AVP, or when the parking area supports the AVP, the user of the intelligent driving device 200 and the electronic device 100 can know which parking position is the AVP parkable position. When it is detected that the user selects an AVP parkable position, the intelligent driving device 200 can be controlled to park into the AVP parkable position.

[0069] It should be noted that the AVP parkable position involved in the embodiments of the present application refers to a parking position that can be parked into by the AVP control, or the communication delay between the vehicle and the cloud server during the parking of the vehicle into the AVP parkable position meets the requirement (such as the communication delay is less than or equal to the delay threshold), so that the risk of loss of control of the vehicle state during the AVP parking process is small. The loss of control of the vehicle state can be understood as: due to the large communication delay between the vehicle and the cloud server, the information of the vehicle parking process cannot be transmitted to the electronic device associated with the vehicle in time, so that the user cannot obtain the related state of the vehicle parking process in time. The information of the vehicle parking process can include but is not limited to the vehicle motion state (such as speed, position), the environmental information around the vehicle (such as the environmental image collected by the vehicle sensor).

[0070] The intelligent driving device 200 can include an intelligent driving system, which can include an advanced driving assistant system (ADAS) and an autonomous driving system (ADS). The intelligent driving system uses various sensors on the vehicle (including but not limited to laser radar, millimeter wave radar, camera, ultrasonic sensor, global positioning system, inertial measurement unit) to obtain information from the surroundings of the vehicle, and analyzes and processes the obtained information to realize functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring / alerting, etc., thereby improving the safety, automation level and comfort of vehicle driving.

[0071] From the perspective of logical functions, the ADAS system generally includes three main functional modules: a perception module, a decision module, and an execution module. The perception module perceives the environment around the vehicle body through sensors and inputs corresponding real-time data to the decision layer processing center. The perception module mainly includes vehicle-mounted cameras, ultrasonic radars, millimeter wave radars, laser radars, etc. The decision module makes corresponding decisions using computing devices and algorithms based on the information obtained by the perception module. The execution module takes corresponding actions such as driving, lane changing, turning, braking, and warning after receiving decision signals from the decision module.

[0072] At different automatic driving levels (L0-L5), ADAS can achieve different levels of automatic driving assistance based on information obtained by artificial intelligence algorithms and multiple sensors. The automatic driving levels (L0-L5) are based on the classification standard of the Society of Automotive Engineers (SAE). Among them, L0 level is non-automation; L1 level is driving assistance; L2 level is partial automation; L3 level is conditional automation; L4 level is high automation; L5 level is full automation. The tasks of monitoring the road conditions and reacting are completed by the driver and the system at L1 to L3 levels, and the driver needs to take over the dynamic driving task. At L4 and L5 levels, the driver can completely change into a passenger role. Currently, the functions that ADAS can achieve mainly include but are not limited to: adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, front intersection traffic warning / braking, rear intersection traffic warning / braking, front vehicle collision warning, lane departure warning, lane keeping assistance, rear vehicle collision warning, traffic sign recognition, traffic congestion assistance, highway assistance, etc. It should be understood that the above various functions can have specific modes at different automatic driving levels (L0-L5), and the higher the automatic driving level, the more intelligent the corresponding mode. For example, automatic parking can include APA, RPA, and AVP, etc. For APA, the driver does not need to manipulate the steering wheel, but still needs to control the accelerator and brake on the vehicle; for RPA, the driver can use a terminal (such as a mobile phone) to remotely control the parking of the vehicle outside the vehicle; for AVP, the vehicle can complete parking without a driver. In terms of corresponding automatic driving levels, APA is approximately at the L1 level, RPA is approximately at the L2-L3 level, and AVP is approximately at the L4 level.

[0073] The electronic device 100 related in the present application can include various handheld devices, wearable devices, computing devices or other processing devices connected to a wireless modem with wireless communication function, and various forms of terminals, mobile stations, user equipment, etc. For example, watches, bracelets, wireless earphones, electronic wallets, etc.

[0074] The intelligent driving device 200 related in the present application can include on-road vehicles, water vehicles, air vehicles, industrial devices, agricultural devices, or entertainment devices, etc. For example, the intelligent driving device 200 can be a vehicle, which is a general concept of a vehicle, and can be a vehicle (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying vehicle, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a mower, a harvester, etc.), an amusement device, a toy vehicle, etc. The type of the vehicle is not limited in the embodiments of the present application. For ease of understanding, the intelligent driving device is taken as a vehicle as an example for description below.

[0075] FIG. 2 shows a structural schematic diagram of the electronic device 100 provided by the embodiments of the present application. The electronic device 100 can include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a loudspeaker 170A, a receiver 170B, a microphone 170C, a headset interface 170D, a sensor module 180, a key 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a subscriber identification module (SIM) card interface 195, etc. The sensor module 180 can include a pressure sensor 180A, a gyroscope sensor 180B, a barometric pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc.

[0076] It can be understood that the structure shown in the embodiments of the present application is only an exemplary description of the electronic device 100. In other embodiments of the present application, the electronic device 100 can include more or fewer components than shown, or combine certain components, or split certain components, or different component arrangements. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0077] The processor 110 can include one or more processing units, for example: the processor 110 can include an application processor (AP), a modem processor, a GPU, an image signal processor (ISP), a controller, a memory, a video codec, a DSP, a baseband processor, and / or an NPU, etc. Different processing units can be independent devices, or can be integrated in one or more processors.

[0078] The controller can be the nerve center and command center of the electronic device 100. The controller can generate operation control signals according to instruction operation codes and timing signals to complete the control of fetching and executing instructions.

[0079] The processor 110 can also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. The memory can hold instructions or data that the processor 110 has just used or is recycling. If the processor 110 needs to use the instructions or data again, it can be called directly from the memory. This avoids repeated access and reduces the latency of the processor 110, thus improving the efficiency of the system.

[0080] In some embodiments, the processor 110 can include one or more interfaces. The interfaces can include an inter-integrated circuit (I2C) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, and / or a universal serial bus (USB) interface, etc.

[0081] The USB interface 130 is an interface that conforms to the USB standard specification, and can be a Mini USB interface, a Micro USB interface, a USB Type C interface, etc. The USB interface 130 can be used to connect a charger to charge the electronic device 100, and can also be used to transmit data between the electronic device 100 and a peripheral device. It can also be used to connect earphones to play audio through the earphones. The interface can also be used to connect other electronic devices, such as AR devices, etc.

[0082] It can be understood that the interface connection relationship between the modules shown in the embodiments of the present application is only illustrative. In other embodiments of the present application, the electronic device 100 can also use different interface connection methods or combinations of multiple interface connection methods as described in the above embodiments.

[0083] In the present application, the electronic device 100 communicates with the intelligent driving device 200 and the server 300 through the mobile communication module 150 and / or the wireless communication module 160.

[0084] The mobile communication module 150 can provide a solution for wireless communication including 2G / 3G / 4G / 5G, etc. applied to the electronic device 100. The mobile communication module 150 can include at least one filter, a switch, a power amplifier, a low noise amplifier (LNA), etc. The mobile communication module 150 can receive an electromagnetic wave by the antenna 1, and perform filtering, amplification, etc. on the received electromagnetic wave, and transfer the processed signal to the modem processor to be demodulated. The mobile communication module 150 can also amplify a signal modulated by the modem processor, and radiate the signal as an electromagnetic wave through the antenna 1. In some embodiments, at least part of the function modules of the mobile communication module 150 can be disposed in the processor 110.

[0085] In some embodiments, at least part of the function modules of the mobile communication module 150 can be disposed in the same device as at least part of the modules of the processor 110.

[0086] The wireless communication module 160 can provide a solution for wireless communication including wireless local area networks (WLAN) such as wireless fidelity (Wi-Fi) networks, Bluetooth (BT), GNSS, frequency modulation (FM), near field communication (NFC), infrared (IR) technology, etc. applied to the electronic device 100. The wireless communication module 160 can be one or more devices integrated with at least one communication processing module. The wireless communication module 160 receives an electromagnetic wave via the antenna 2, performs frequency modulation and filtering on the electromagnetic wave signal, and transmits the processed signal to the processor 110. The wireless communication module 160 can also receive a signal to be transmitted from the processor 110, perform frequency modulation and amplification on the signal, and radiate the signal as an electromagnetic wave through the antenna 2.

[0087] In some embodiments, the antenna 1 and the mobile communication module 150 of the electronic device 100 are coupled, and the antenna 2 and the wireless communication module 160 are coupled, so that the electronic device 100 can communicate with a network and other devices through wireless communication technology. The wireless communication technology can include any one of global system of mobile communication (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology, etc. The GNSS can include GPS, global navigation satellite system (GLONASS), beidou navigation satellite system (BDS), quasi-zenith satellite system (QZSS), or satellite based augmentation systems (SBAS).

[0088] The electronic device 100 implements a display function through a GPU, a display screen 194, and an application processor, etc. The GPU is a microprocessor for image processing, which is connected to the display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 110 can include one or more GPUs, which execute program instructions to generate or change display information.

[0089] The display screen 194 is configured to display images, videos, and the like. The display screen 194 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flex light-emitting diode (FLED), a Miniled, a MicroLed, a Micro-oLed, a quantum dot light emitting diodes (QLED), or the like. In some embodiments, the electronic device 100 can include one or N display screens 194, where N is a positive integer greater than 1.

[0090] The external memory interface 120 can be configured to connect an external memory card, such as a Micro SD card, to extend the storage capacity of the electronic device 100. The external memory card communicates with the processor 110 through the external memory interface 120 to implement data storage functions. For example, music, video, and the like are stored in the external memory card.

[0091] The internal memory 121 can be configured to store computer executable program codes including instructions. The processor 110 executes various functional applications and data processing of the electronic device 100 by running the instructions stored in the internal memory 121. The internal memory 121 can include a program storage area and a data storage area. The program storage area can store an operating system, at least one App required by a function (such as a sound playing function, an image playing function, and the like), and the like. The data storage area can store data created during use of the electronic device 100 (such as audio data, a phone book, and the like), and the like. In addition, the internal memory 121 can include a high-speed random access memory, and can further include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, a universal flash storage (UFS), and the like.

[0092] The keys 190 include a power key, a volume key, and the like. The keys 190 can be mechanical keys. Alternatively, the keys 190 can be touch keys. The electronic device 100 can receive key inputs and generate key signal inputs related to user settings and function control of the electronic device 100.

[0093] The indicator 192 can be an indicator light, which can be configured to indicate a charging state, a power change, and can also be configured to indicate a message, a missed call, a notification, and the like.

[0094] The software system of the electronic device 100 can employ a layered architecture, an event-driven architecture, a microkernel architecture, a microservices architecture, or a cloud architecture. Embodiments of the present application illustrate the software structure of the electronic device 100 using a layered architecture.

[0095] FIG. 3 is a block diagram of the software structure of the electronic device 100 according to an embodiment of the present application. A layered architecture divides software into several layers, each of which has a clear role and division of labor. Layers communicate with each other through software interfaces. In some embodiments, an Android system is divided into four layers, from top to bottom, an application layer, an application framework layer, and a kernel layer. The application layer can include a series of application packages.

[0096] As shown in FIG. 3, the application packages can include camera, gallery, calendar, call, map, navigation, WLAN, Bluetooth, music, video, short message, etc.

[0097] The application framework layer provides application programming interfaces (APIs) and programming frameworks for the applications of the application layer. The application framework layer includes a number of pre-defined functions.

[0098] As shown in FIG. 3, the application framework layer can include a window manager, a content provider, a view system, a phone manager, a resource manager, a notification manager, etc.

[0099] The window manager is used to manage window programs. The window manager can obtain the size of the display screen, determine whether there is a status bar, lock the screen, and take screenshots, etc.

[0100] The content provider is used to store and obtain data, and make the data accessible to applications. The data can include videos, images, audios, dialed and received calls, browsing history and bookmarks, phone books, etc.

[0101] The view system includes visual controls, such as controls for displaying text, controls for displaying pictures, etc. The view system can be used to build applications. A display interface can be composed of one or more views. For example, a display interface including a short message notification icon can include a view for displaying text and a view for displaying pictures.

[0102] The phone manager is used to provide communication functions of the electronic device 100. For example, management of call states (including call connection, call hang-up, etc.).

[0103] The resource manager provides various resources for applications, such as localized strings, icons, pictures, layout files, video files, etc.

[0104] The notification manager enables applications to display notification information in the status bar, which can be used to convey a message of the informing type, and can automatically disappear after a short stay without user interaction. For example, the notification manager is used to inform the completion of downloading, message reminders, etc. The notification manager can also be a notification in the form of a chart or a scroll bar text appearing in the top status bar of the system, such as a notification of an application running in the background, and can also be a notification in the form of a dialogue window appearing on the screen. For example, the status bar prompts text information, issues a prompt sound, the electronic device vibrates, the indicator light flashes, etc.

[0105] As shown in FIG. 3, the system library can include a plurality of functional modules. For example, a surface manager, media libraries, a three-dimensional graphics processing library (for example, OpenGL ES), a two-dimensional graphics engine (for example, SGL), etc.

[0106] The surface manager is used to manage the display subsystem, and provides a plurality of applications with the fusion of 2D and 3D layers. The media library supports a plurality of commonly used audio, video format playback and recording, and static image files, etc.

[0107] The media library can support a plurality of audio and video coding formats, for example, MPEG4, H.264, MP3, advanced audio coding (AAC), adaptive multi-rate (AMR), joint photographic experts group (JPG), portable network graphics (PNG), etc.

[0108] The three-dimensional graphics processing library is used to realize three-dimensional graphics drawing, image rendering, synthesis, and layer processing, etc.

[0109] The two-dimensional graphics engine is a drawing engine for two-dimensional drawing.

[0110] The kernel layer is a layer between hardware and software. The kernel layer at least includes a display driver, a camera driver, an audio driver, and a sensor driver.

[0111] It should be understood that the technical solutions in the embodiments of the present application can be used in Android, iPhone operating system (IOS), and the like.

[0112] FIG. 4 shows an exemplary flow of information interaction between the electronic device, the intelligent driving device and the server in the control method provided by the embodiments of the present application. For example, the intelligent driving device 200 includes multiple vehicles, the electronic device 100 includes device 1, and the server 300 includes a cloud server. Specifically, the method 20 includes the following steps.

[0113] S21, the multiple vehicles (including vehicle 1) send the signal strength information associated with the parking area 1 to the cloud server.

[0114] In some implementations, before S21 is performed, the map information of the parking area 1 has been constructed. Alternatively, the map information construction and S21 can be performed synchronously. Specifically, each vehicle in the multiple vehicles can collect environmental information of the area passed through by the vehicle during driving in the parking area 1 through a perception system (such as a camera, a laser radar, etc.). The environmental information can be in the form of an image, a video stream (including multiple images), a laser point cloud, etc. In an example, each vehicle in the multiple vehicles can extract feature points from the environmental information and upload the feature points as perception information to the cloud server. In another example, the multiple vehicles can upload the environmental information as perception information to the cloud server, and the cloud server extracts feature points from the perception information and constructs a map of the parking area 1. The feature points involved in the present application can include corner points, or can also include high-dimensional feature points, for example, which can indicate more abstract features, such as the features of a sub-area. For example, the vehicle or the cloud server can extract feature points through a scale-invariant feature transform (SIFT) algorithm, a speeded up robust features (SURF) algorithm, an oriented fast and rotated brief (ORB) algorithm, etc. Alternatively, the feature points can also be extracted through other ways. It can be understood that the perception information indicates the environment around the driving area of the vehicle, and therefore, according to the perception information collected by the multiple vehicles, a map of the parking area 1 can be constructed through a SLAM algorithm, etc., and the area available for vehicle passage in the parking area 1 can be determined.

[0115] In some implementations, each vehicle in the multiple vehicles can collect signal strength at a fixed time interval (such as every n seconds) or a fixed distance interval (such as every m meters of driving) during driving in the parking area 1. Wherein, n can be 0.5, or 1, or other numerical values; m can be 1, or 2, or other numerical values. The signal strength information sent by each vehicle to the cloud server includes information of a network operator serving the vehicle and information of signal strength corresponding to multiple positions passed through by the vehicle.

[0116] Exemplarily, for each vehicle, a network link between the vehicle and the cloud server is established and a handshake connection is made at a regular time interval, which can be n seconds, i.e., a handshake connection is made every n seconds. The network delay of each handshake connection is recorded, and the signal strength of the corresponding wireless network signal is determined according to the correspondence between the network delay and the signal strength of the wireless communication signal. The network delay can represent the current network condition, and the correspondence between the network delay and the signal strength of the wireless communication signal can be obtained from the network operator or pre-established. Further, the correspondence between the position of the vehicle in the parking area 1 and the signal strength is determined. Since the vehicle can have moved a certain distance when the signal strength is obtained, the determined signal strength is corresponding to the position of the vehicle when the handshake connection is made, and the signal strength of the wireless communication signal at the position is determined. Further, the correspondence between the signal strength information and the position points in the parking area is obtained during the driving of the vehicle, and the vehicle uploads the determined signal strength information to the cloud server.

[0117] It should be noted that the network operator serving any two vehicles of the plurality of vehicles can be the same or different. Therefore, the signal strength information uploaded by any two vehicles of the plurality of vehicles can be the signal strength information of the wireless communication network provided by the same network operator, or can be the signal strength information of the wireless communication network provided by two different network operators (hereinafter referred to as wireless communication signal). In addition, the driving paths of any two vehicles of the plurality of vehicles in the parking area 1 can be the same or different. Therefore, the signal strength information uploaded by any two vehicles of the plurality of vehicles can include the signal strength of the same position of the wireless communication network provided by the same network operator, the signal strength of different positions of the wireless communication network provided by the same network operator, the signal strength of the same position of the wireless communication network provided by two different network operators, or the signal strength of different positions of the wireless communication network provided by two different network operators.

[0118] That is to say, for a certain position or a certain sub-area in the parking area 1, a plurality of signal strength information can be associated, which can be associated with the same network operator, or the plurality of signal strength information can be associated with a plurality of different network operators.

[0119] It should be further noted that the plurality of vehicles that send the awareness information to the cloud server and the plurality of vehicles that send the signal strength information to the cloud server can be the same vehicles or different vehicles.

[0120] In actual implementation, the perception information and / or signal strength information sent by the plurality of vehicles to the cloud server includes identification information of the parking area 1, for example, the identification information can include GNSS positioning information of the parking area 1. Exemplarily, the GPS signal strength of the parking area 1 is weak, or there is no GPS signal, so that the vehicle cannot be positioned by GPS in the parking area 1. Then each vehicle in the plurality of vehicles records the GPS signal before entering the parking area 1, collects the environmental information and / or signal strength information after entering the parking area 1, and sends the perception information and / or signal strength information and the GPS signal recorded before entering the parking area 1 to the cloud server, so that the cloud server can determine the parking area corresponding to the perception information and / or signal strength information according to the GPS signal.

[0121] S22, the cloud server constructs or refreshes the map information of the parking area 1, and the map information includes information of at least one parking position in the parking area 1, information of at least one passable area, and information of the communication relationship between the passable areas.

[0122] Exemplarily, the passable area can be understood as a drivable area of the vehicle.

[0123] In some implementations, when there is no map information of the parking area 1 in the cloud server, the cloud server can construct the map information of the parking area 1 according to the perception information from the plurality of vehicles; when there is already map information of the parking area 1 in the cloud server, the cloud server can update the map information of the parking area 1 according to the perception information from the plurality of vehicles.

[0124] In some implementations, the map information of the parking area 1 can further include the strength of at least one kind of wireless communication signal corresponding to each parking position in the plurality of parking positions in the parking area 1. In addition, the map information of the parking area 1 can further include the strength of at least one kind of wireless communication signal corresponding to the passable area in the parking area 1. Different kinds of wireless communication signals in the at least one kind of wireless communication signal can be provided by different network operators, or different kinds of wireless communication signals in the at least one kind of wireless communication signal can also be different signals (such as different systems or different cells) provided by the same network operator. It can be understood that the cloud server can update the information of the wireless communication signal strength related to the parking area 1 according to the signal strength information uploaded by the plurality of vehicles. For example, a new signal strength is added for a certain position or sub-area; or a new signal strength is added and an old signal strength is deleted for a certain position or sub-area.

[0125] S23, the cloud server determines the parking area 1 element release information, and the parking area 1 element release information indicates the available parking position and the passable section in the parking area 1.

[0126] It should be noted that the available parking position refers to a position that can be parked in or out by the automatic parking function (such as AVP), and the passable road section refers to a drivable road section of the vehicle when the vehicle is controlled by the automatic parking function. Further, the position that can be parked in or out by the automatic parking function can be understood as: in the process of parking the vehicle into the related position, the communication delay between the vehicle and the cloud server meets the requirement (such as the communication delay is less than or equal to the delay threshold), so that the risk of loss of control of the vehicle state in the automatic parking process is small. When a certain vehicle needs to be parked in the parking area 1, there may be many idle parking positions in the parking area 1, but the strength of the wireless communication signal at all idle parking positions does not meet the required signal strength for automatic parking. Therefore, the cloud server can determine the available parking position and the passable road section in the parking area 1 according to the signal strength information in S21.

[0127] In some implementations, for each parking position (such as parking space 1) of the plurality of parking positions of the parking area 1, it can be associated with a plurality of wireless communication signals. Further, for each wireless communication signal (such as signal 1), the cloud server can store a plurality of signal strength information, each piece of signal strength information indicating the strength of the signal 1 corresponding to the parking space 1. Then, in the case that the vehicle communicates with the cloud server using the signal 1, whether the parking space 1 is an available parking position can be determined according to the proportion of the signal strength information whose signal strength is greater than or equal to the strength threshold 1. For example, when the proportion of the number of signal strength information 1 associated with the parking space 1 and meeting the preset condition to the total number of signal strength information 1 associated with the parking space 1 is greater than or equal to the proportion threshold 1, it is determined that the parking space 1 is an available parking space, wherein the signal strength information 1 is the signal strength information of the signal 1, and the preset condition can be that the signal strength is greater than or equal to the strength threshold 1. For example, the strength threshold 1 can be -60dbm, or -70dbm, or can also be other threshold values, for example, for different network operators, the strength threshold 1 can be different values, or can also be the same value; the proportion threshold 1 can be 70%, or 75%, or can also be other values.

[0128] In some implementations, for each drivable area (e.g., drivable area 1) of the plurality of drivable areas of parking area 1, it can be associated with a plurality of wireless communication signals. Further, for each wireless communication signal (e.g., signal 2), the cloud server can store a plurality of signal strength information, each of which indicates the strength of signal 1 corresponding to drivable area 1. Then, in the case that the vehicle communicates with the cloud server using signal 2, the drivable area 1 can be determined as a passable section according to the proportion of signal strength information whose signal strength is greater than or equal to strength threshold 2. For example, when the proportion of the number of signal strength information 2 associated with drivable area 1 and satisfying the preset condition in the total number of signal strength information 2 associated with drivable area 1 is greater than or equal to proportion threshold 2, drivable area 1 is determined as a drivable area, where signal strength information 2 is the signal strength information of signal 2. For example, strength threshold 2 can be -60dbm, or -70dbm, or other threshold values, for example, for different network operators, strength threshold 2 can be different values, or can also be the same value. Proportion threshold 2 can be 70%, or 75%, or other values. In actual implementation, strength threshold 1 and strength threshold 2 can be the same, and proportion threshold 1 and proportion threshold 2 can be the same. In actual implementation, the drivable area can be divided into a plurality of sub-driving areas, and then it is determined whether each sub-driving area is a passable section.

[0129] In some implementations, the map information of parking area 1 can also include the strength of at least one wireless communication signal corresponding to other positions in parking area 1 except for parking positions and passable areas, which can include elevator entrances, stair entrances, etc. Further, the parking area 1 element release information can also indicate available elevator entrances (and / or stair entrances). The available elevator entrance can be understood as: when the vehicle is controlled by the automatic parking function, the vehicle can be controlled to drive from the parking position to the elevator entrance, that is, the available elevator entrance can also be understood as a kind of parking position, which is a temporary parking position.

[0130] S24, the vehicle 2 sends the position information and communication identification information of the vehicle 2 to the cloud server.

[0131] For example, the position information indicates that the vehicle 2 is currently located in parking area 1; the communication identification information indicates at least one of the following: the signal type used by the vehicle 2 to communicate with the cloud server, or the network operator associated with the wireless communication signal used by the vehicle 2.

[0132] S25, the cloud server sends the map information of parking area 1 and the parking area 1 element release information to the vehicle 2.

[0133] Exemplarily, the cloud server determines that the vehicle 2 is located in the parking area 1 according to the position information, and sends the map information of the parking area 1 to the vehicle 2. In addition, the parking area 1 element release information is the parking area 1 element release information associated with the wireless communication signal used by the vehicle 2.

[0134] It can be understood that after the vehicle 2 receives the map information of the parking area 1 and the parking area 1 element release information, the available parking spaces and drivable paths in the parking area 1 can be determined, and then the available parking spaces are displayed to the user of the vehicle 2, so that the user selects the target parking space under the automatic parking function.

[0135] S26, the vehicle 2 determines the position 1 of the vehicle in the parking area 1 according to the map information.

[0136] In an example, the perception system of the vehicle 2 collects environmental information, and matches the collected environmental information with the map information, so as to determine the position 1 of the vehicle in the parking area 1. Exemplarily, the map information includes feature points of the parking area 1, and the environmental information collected by the vehicle 2 is an image, then the vehicle 2 can match the image collected by the vehicle 2 at the position 1 with the feature points in the map information, so as to determine that the vehicle 2 is located at the position 1.

[0137] In another example, the map information of the parking area 1 further includes positioning information of each position in the parking area 1, and then the vehicle 2 can determine the position 1 of the vehicle in the parking area 1 according to the positioning information (such as GNSS positioning information) of the vehicle.

[0138] S27, the vehicle 2 sends the position 1 to the cloud server.

[0139] In some implementations, the position of the vehicle 2 in the parking area 1 can also be determined by the cloud server. For example, after the vehicle 2 stops at the position 1, an image is collected at the position 1, and the collected image is sent to the cloud server. The cloud server matches the image collected by the vehicle 2 with the feature points in the map information, so as to determine that the vehicle 2 is located at the position 1, and then sends the position 1 to the vehicle 2.

[0140] S28, the cloud server sends the map information of the parking area 1, the parking area 1 element release information and the position 1 to the device 1.

[0141] Exemplarily, the device 1 is a device associated with the vehicle 2, and the "association" can include that the account numbers of the two devices (such as the device 1 and the vehicle 2) are the same; or the account numbers of the two devices are different, but are the account numbers of the authorized users of the vehicle 2.

[0142] In some implementations, when the cloud server receives the information of the location 1 sent by the vehicle 2, the device 1 is sent the map information of the parking area 1, the parking area 1 element release information and the location 1.

[0143] In yet some implementations, when the device 1 detects that the owner application (APP) is opened, the device 1 requests the map information from the cloud server, and the cloud server sends the map information of the last parking place (i.e. the parking area 1) of the vehicle 2 and the location of the vehicle 2 in the parking area 1 to the device 1 in response to the request of the device 1; or, when the device 1 detects that the owner APP is opened and the automatic parking function is turned on, the device 1 requests the map information from the cloud server, and the cloud server sends the map information of the parking area 1 and the parking area 1 element release information to the device 1 in response to the request of the device 1. The owner APP can include an application that provides vehicle control for a legally authorized user of the vehicle, and / or an application that provides services such as understanding the status information of the vehicle for a legally authorized user of the vehicle.

[0144] S29, the device 1 displays the available parking position in the parking area 1.

[0145] Exemplarily, the device 1 displays the available parking position in the parking area 1 through the owner APP, so that the user can select a parking position with better wireless communication signal strength under the automatic parking function, thereby improving the safety during parking.

[0146] S211, the vehicle 2 sends the parking related information to the cloud server.

[0147] Exemplarily, the parking related information includes the image collected during the process of driving to the target parking space or parking into the target parking space, the real-time position of the vehicle 2, the real-time speed of the vehicle 2, etc.

[0148] Exemplarily, the parking related information is sent to the cloud server during the process of driving to the target parking space or parking into the target parking space.

[0149] S212, the cloud server sends the parking related information to the device 1.

[0150] S213, the device 1 displays the parking dynamics.

[0151] Exemplarily, the device 1 can display one or more of the position change of the vehicle 2 in the parking area 1, the state of the parking path, and the parking state in real time.

[0152] The above introduces the information interaction process required for implementing the control method provided by the embodiments of the present application. In order to facilitate understanding of the control scheme provided by the present application, the application of the control method provided by the embodiments of the present application in different application scenarios is described in detail below in combination with FIG. 5 to FIG. 10.

[0153] FIG. 5 shows a schematic diagram of a parking area according to an embodiment of the present application. The parking area shown in (a) of FIG. 5 can be regarded as an example of the parking area 1. The parking area shown in (a) of FIG. 5 includes an entrance 351, an exit 352, and an exit 353. The parking area includes a plurality of parking spaces, some of which are occupied by vehicles (e.g., a vehicle 354), and the rest of which are in an idle state. In addition, the parking area includes a plurality of pillars 356, and a wall of the parking area is shown at 357. By way of example, paths ①-⑤ are paths traveled by vehicles in the parking area, and the vehicles collect signal strength information during travel in the parking area and send the collected signal strength information to the cloud server, so that the cloud server determines the characteristics of the signal strength corresponding to each wireless communication signal at each location in the parking area. Different line types of paths represent paths traveled by vehicles using different wireless communication signals for communication. For example, long dashed paths (e.g., path ①, path ②, and path ③) are paths traveled by vehicles using wireless communication signals provided by network operator a, and short dashed paths (path ④ and path ⑤) are paths traveled by vehicles using wireless communication signals provided by network operator b.

[0154] In some scenarios, for the parking area shown in (a) of FIG. 5, the distribution of weak signal areas in the parking area determined based on the method described in S23 is shown in (b) of FIG. 5, i.e., areas a and e are areas in which a type of signal is weak (e.g., the signal strength is less than or equal to the strength threshold), and areas b, c, and d are areas in which b type of signal is weak. Then, for a type of signal, parking spaces 301, 302, and 303 in the parking area are unusable parking spaces under automatic parking function, and area e is a poor signal area under automatic parking function; for b type of signal, parking spaces 304, 305, 306, and 307 are unusable parking spaces under automatic parking function, and area d is a poor signal area under automatic parking function. By way of example, a type of signal and b type of signal can be different types of signals provided by the same network operator; or, a type of signal and b type of signal can also be signals provided by different network operators, e.g., a type of signal is wireless communication signals provided by network operator a, and b type of signal is wireless communication signals provided by network operator b.

[0155] It should be noted that the paths shown in (a) of FIG. 5 are only exemplary, and in actual implementation, the parking area can include more travel paths and corresponding signal strength information. In addition, the shapes and distributions of the areas in which the wireless communication signals are weak shown in (b) of FIG. 5 are also only exemplary, and in actual implementation, the areas in which the wireless communication signals are weak can also present other shapes and distributions.

[0156] In some implementations, taking the wireless communication signal used by the vehicle 2 as an example of the aforementioned a type of signal, after the vehicle 2 receives the map information of the parking area and the parking area element release information, a parking interface can be displayed by a display device (such as a center display screen), and the parking interface can include icons indicating non-idle parking positions, parking positions under automatic parking function, and parking positions under automatic parking function. The parking positions under automatic parking function can be understood as: in the process of parking the vehicle into the relevant position, the communication delay between the vehicle and the cloud server meets the requirements (such as the communication delay being less than or equal to the delay threshold), so that the risk of loss of control of the vehicle state in the automatic parking process is small; the parking positions under automatic parking function are idle parking spaces. The parking positions under automatic parking function that are not allowed to be parked can be understood as: in the process of parking the vehicle into the relevant position, the communication delay between the vehicle and the cloud server does not meet the requirements (such as the communication delay being greater than the delay threshold), so that the risk of loss of control of the vehicle state in the automatic parking process is large; the parking positions under automatic parking function that are not allowed to be parked can be idle parking spaces or non-idle parking spaces. The non-idle parking positions, the parking positions under automatic parking function that are allowed to be parked, and the parking positions under automatic parking function that are not allowed to be parked can be represented by different types of icons.

[0157] FIG. 6 shows a schematic diagram of a graphic user interface (GUI) provided by the vehicle according to an embodiment of the present application. As shown in (a) of FIG. 6, an icon (such as icon 401) with a dark gray border and a “P” word in the middle represents that the parking space is a parking position under automatic parking function, an icon (such as icon 402) with a light gray border and a vehicle icon in the middle represents that the parking space is a non-idle parking space, and an icon (such as icon 403) with a light gray border and a blank in the middle represents that the parking space is a parking position under automatic parking function that is not allowed to be parked. In addition, the parking interface can also display an icon 404 representing the position of the vehicle (such as vehicle 2). It can be understood that the icon 402, the icon 403, and the icon to the right of the icon 403 respectively indicate the parking positions 301, 302, and 303 shown in (b) of FIG. 5.

[0158] In some implementations, when the user clicks the icon with the light gray border and the blank middle, the parking interface can not respond (i.e., the parking interface remains unchanged when the user clicks the icon with the light gray border and the blank middle), or a dialog box 405 "! This parking space is not available, please select other parking space" as shown in (b) of FIG. 6 can be displayed when the user clicks the icon with the light gray border and the blank middle. In another example, when the user clicks the icon with the dark gray border and the "P" in the middle, the icon indicates that the parking space is the target parking space, and the vehicle can be controlled to park in the parking space corresponding to the icon under the automatic parking function. For example, as shown in (c) of FIG. 6, when the user clicks the icon 406, it is determined that the parking space corresponding to the icon 406 is the target parking space, and a driving path from the current position of the vehicle 2 to the target parking space can be planned. In some implementations, since the vehicle needs to pass through the area e (i.e., the area with weak wireless communication signal) when driving from the current position of the vehicle 2 to the parking space corresponding to the icon 406, different colors can be used to represent areas with different wireless communication signal strengths in the driving path. For example, as shown in (d) of FIG. 6, the parking interface can be controlled to display a driving path including a path 407, a path 408 and a path 409, wherein the paths 407 and 409 are black, indicating that the wireless communication signal strength in these parts of the driving path is good, and the path 408 (i.e., the driving path through the area e) is gray, indicating that the wireless communication signal strength in these parts of the driving path is weak, which can affect the communication delay between the vehicle and the cloud server, so as to prompt the user to pay attention to the vehicle condition when passing through these areas.

[0159] In some implementations, still taking the a-type signal used by the vehicle 2 as an example, when the position of the vehicle 2 in the parking area is determined and the automatic parking is started or is about to be started, the map information of the parking area, the parking area element release information and the position (e.g., the position 1) of the vehicle 2 in the parking area can be sent to the electronic device (e.g., the device 1) associated with the vehicle 2. If the electronic device is a mobile phone, the display screen of the mobile phone can be controlled to display a parking interface, which can include icons indicating the non-idle parking position, the parking position under the automatic parking function and the non-parking position. The specific form of the icon can be referred to the description of the corresponding part of FIG. 6.

[0160] Fig. 7 shows a schematic diagram of a GUI displayed by the electronic device according to an embodiment of the present application. As shown in (a) of Fig. 7, the icon with a dark gray border and a "P" in the middle (e.g., icon 501) represents that the parking space is a parking position under the automatic parking function, the icon with a light gray border and a vehicle in the middle (e.g., icon 502) represents that the parking space is a non-idle parking space, and the icon with a light gray border and a blank in the middle (e.g., icon 503) represents that the parking space is a parking position under the automatic parking function. In addition, the parking interface can also display an icon 504 representing the position of the ego vehicle (e.g., vehicle 2). It can be understood that the icon 502, the icon 503, and the icon above the icon 503 respectively indicate the parking position 301, the parking position 302, and the parking position 303 shown in (b) of Fig. 5.

[0161] When it is detected that the user clicks the display screen of the mobile phone, it can be determined according to the type of the icon clicked by the user whether the parking space corresponding to the icon can be the target parking position. In an example, when it is detected that the user clicks the icon with a light gray border and a blank in the middle, the parking interface can not respond (i.e., the user cannot click the icon with a light gray border and a blank in the middle), or when it is detected that the user clicks the icon with a light gray border and a blank in the middle, the parking interface can be controlled to display a dialog box 505 "! This parking space is not available, please select other parking spaces" shown in (a) of Fig. 7. In another example, when it is detected that the user clicks the icon with a dark gray border and a "P" in the middle, it can be determined that the icon is the target parking position, and then the vehicle can be controlled to park in the parking space corresponding to the icon under the automatic parking function. For example, as shown in (b) of Fig. 7, when it is detected that the user clicks the icon 506, it is determined that the parking space corresponding to the icon 506 is the target parking position, and then a driving path from the current position of the ego vehicle to the target parking position can be planned. In some implementations, since the vehicle 2 needs to pass through the area e (i.e., an area with weak wireless communication signal strength) when driving to the parking space corresponding to the icon 406, different colors can be used to represent areas with different wireless communication signal strengths in the driving path. For example, the parking interface can be controlled to display a driving path as shown in (b) of Fig. 7, which includes a path 507, a path 508, and a path 509. The paths 507 and 509 are black, indicating that the wireless communication signal strength in these parts of the driving path is good. The path 508 (i.e., the driving path through the area e) is gray, indicating that the wireless communication signal strength in this part of the driving path is weak, which can affect the communication delay between the vehicle and the cloud server. Therefore, the user is prompted to pay attention to the vehicle condition when the vehicle passes through this part of the area. Further, when the driving path is planned, a "start parking" button 510 can be displayed, and when it is detected that the user clicks the button 510, the vehicle can be controlled to drive along the planned driving path.

[0162] It should be noted that the parking position under the automatic parking function is the available parking position in the method 20.

[0163] In some implementations, when the vehicle travels to an area where the strength of the wireless communication signal is weak, the vehicle can be controlled to travel at a lower speed, and the user can be prompted with information related to the weak wireless communication signal. For example, as shown in (a) of FIG. 8, the video collected during the travel of the receiving vehicle is received and displayed in a dialogue box 513, and in addition, the content in the dialogue box 512, “current network connection is weak, and is slowing down” and “there is a delay in the video, please observe the state of the vehicle” can be prompted. In some implementations, the total length of the path 508 and / or the remaining length of the path 508 can also be displayed on the interface shown in (a) of FIG. 8. In addition, the interface shown in (a) of FIG. 8 also includes a button 511, and when it is detected that the user clicks the button 511, the vehicle is controlled to pause travel.

[0164] In some implementations, the map information also includes information of the types of each parking position, such as parking spaces with charging piles, parking spaces close to elevator entrances or stair entrances. Further, the parking interface can also include parking space label buttons, such as the “charging pile”, “stair”, and “elevator” labels shown in (b) of FIG. 8, so that when it is detected that the user selects a label, the type of parking position corresponding to the label is quickly filtered out and displayed to the user. For example, when it is detected that the user clicks the “elevator” label, the parking interface can be switched to display the parking space information near the elevator shaft. In some scenarios, as described in the foregoing embodiments, the parking spaces near the elevator shaft (such as the parking spaces corresponding to the icons 502, 503, and 504) are all parking positions that cannot be parked under the automatic parking function, that is, the closest parking position to the elevator shaft under the automatic parking function is the parking space corresponding to the icon 501. Therefore, when it is detected that the user clicks the “elevator” label, the parking interface can be controlled to display an icon 514, which indicates the closest available parking position to the elevator shaft. In addition, the parking interface can also display a dialogue box 515, “the signal near the elevator is poor, and the closest parking position to the elevator has been selected for you, and you can also cancel and reselect”, to prompt the user with the reason for determining the parking space corresponding to the icon 514 as the target parking space.

[0165] FIG. 9 shows another schematic diagram of an application scenario provided by the embodiments of the present application. In the scenario shown in FIG. 9, the wireless communication signal used by the vehicle 701 is taken as the aforementioned b-type signal, and the parking space 702 is a stoppable position under the automatic parking function. Further, if the vehicle 701 determines that the parking space 702 is a target parking position, then the path of the vehicle 701 from the position shown in FIG. 9 to the parking space 702 includes the path 703 and the path 704. As can be seen from the figure, the path 704 passes through the area d where the b-type signal strength is weak, while the path 703 does not pass through any area where the b-type signal strength is weak. In the above scenario, the vehicle 701 can be controlled to travel along the path 703 to the parking space 702 to avoid the area where the wireless communication signal is weak.

[0166] In some implementations, when the proportion of the available parking positions in the parking area to all the parking positions is less than or equal to a proportion threshold 3, and / or the proportion of the passable road segments in the parking area to all the passable road segments is less than or equal to a proportion threshold 4, the parking area is determined to be an unusable parking area under the automatic parking function, and then when the vehicle is located in the parking area, the user can be prompted by relevant prompt information that the automatic parking function is limited, so as to make the user take over the vehicle to perform manual parking. Exemplarily, the proportion threshold 3 can be 30%, or 20%, or other numerical values; and the proportion threshold 4 can be 30%, or 20%, or other numerical values.

[0167] In some implementations, a driving path of the vehicle from the starting position to the target parking space can be planned by a path planning algorithm such as an A-star (A*) algorithm, a D-star (D*) algorithm, a rapidly exploring random tree star (RRT*) algorithm, or the like, for example, the path 703 and the path 704 can be planned by one or more of the foregoing algorithms. Illustratively, taking the A* algorithm as an example, when determining the driving path from the starting position to the target parking space, the generation values of the path from the starting position to the current position and the path from the current position to the target parking space are calculated, the node with the smallest generation value is selected as the current optimal node from all the nodes corresponding to the current position, and the current optimal node is used for further searching until the target parking space is searched. More specifically, the generation value of each node is determined according to the strength of the wireless communication signal of the node, the distance between the node and the starting position and the target parking space, and the road curvature at the node. Among them, for two nodes with the same distance and road curvature, the node with the stronger wireless communication signal corresponds to the smaller generation value; for two nodes with the same wireless communication signal strength and road curvature, the node with the smaller distance from the starting position and the target parking space corresponds to the smaller generation value; for two nodes with the same wireless communication signal strength and distance, the node with the smaller curvature corresponds to the smaller generation value. For the scenario shown in FIG. 9, the path 703 can be determined as the path for controlling the vehicle to drive to the target parking position by the path planning algorithm.

[0168] FIG. 10 shows another schematic diagram of the GUI provided by the embodiments of the present application. As shown in (a) of FIG. 10, the central control display screen of the vehicle can be controlled to display a parking interface, which includes map information of the parking area and an icon (e.g., icon 801) indicating the position of the ego vehicle in the parking area. In some implementations, when the vehicle enters the parking area is detected, or when the user detects that the user clicks any icon in the parking interface shown in (a) of FIG. 10, a dialog box 802 “! No automatic parking space in the current parking lot. Please park manually” can be displayed to prompt the user to take over the vehicle. As shown in (b) of FIG. 10, the display screen of the mobile phone can be controlled to display a parking interface, which includes map information of the parking area and an icon (e.g., icon 803) indicating the position of the ego vehicle in the parking area. In some implementations, when the vehicle enters the parking area is detected and the mobile phone is in the parking interface, or when the user detects that the user clicks any icon in the parking interface shown in (b) of FIG. 10, a dialog box 804 “Automatic parking function is limited” and “No automatic parking space in the current parking lot. Please park manually” can be displayed to prompt the user to take over the vehicle. The above-mentioned map information includes drivable areas in the parking area, the passing relationship between the drivable areas, the positions of the parking spaces, and the occupancy status (e.g., whether a vehicle has been parked) of the parking spaces. Unlike the icons indicating the parking spaces in the parking interfaces shown in FIGS. 6 and 7, the icons indicating the parking spaces in the parking interfaces shown in (a) and (b) of FIG. 10 do not support point selection.

[0169] It should be noted that the various icons in the GUIs shown in FIGS. 6 to 8 and FIG. 10 are only exemplary and can be in other forms in actual implementation.

[0170] FIG. 11 shows a schematic flowchart of a control method 1100 provided by the embodiments of the present application. The method 1100 can be performed by the electronic device 100 and / or the intelligent driving device 200 shown in FIG. 1. The method 1100 includes:

[0171] S1110, obtaining first map information of a first area, the first map information indicating at least one parkable position and at least one unparkable position in the first area, the at least one parkable position and / or the at least one unparkable position being determined according to the strength of a first communication signal, the first communication signal being a signal used for communication between the vehicle and the outside world.

[0172] Exemplarily, the first area can be the parking area 1 in the method 20, or the first area can be another area for parking. Taking the first area as the aforementioned parking area 1 as an example, the first map information can include map information of the parking area 1, or the first map information can also include map information of the parking area 1 and element release information of the parking area 1.

[0173] For example, the at least one parkable position can include a parkable position in the method 20 and / or an available elevator entrance, or the at least one parkable position can be a parkable position under the automatic parking function (e.g., AVP) in the foregoing embodiments; and the at least one non-parkable position can include a non-parkable position under the automatic parking function in the foregoing embodiments.

[0174] For example, the first communication signal can include the a-type signal or the b-type signal in the foregoing embodiments, or the first communication signal can also be other wireless communication signals. According to the strength of the first communication signal, the specific implementation of determining which positions in the first area are parkable positions and which positions are non-parkable positions can refer to the description in S23, which will not be repeated here.

[0175] S1120, obtaining a first instruction, the first instruction indicating that a first parkable position in the at least one parkable position is a target parking position.

[0176] For example, taking the parking space indicated by the icon 406 in FIG. 6 as the first parkable position, the first instruction can be an instruction generated by detecting that the user clicks the icon 406; or the first instruction can also be a voice instruction input by the user to select the parking space corresponding to the icon 406 as the target parking position, or the first instruction can also be other instructions. The target parking position can include the target parking space in the foregoing embodiments.

[0177] In some implementations, the method further includes: controlling the display device to display a first type of icon and a second type of icon, the first type of icon being associated with the at least one parkable position, and the second type of icon being associated with the at least one non-parkable position, and the first instruction being generated by detecting a first operation of selecting the first type of icon corresponding to the first parkable position.

[0178] For example, when the method 1100 is performed by a vehicle or other intelligent driving device, the display device can be a display device in the vehicle, such as a central control display screen or the like; and when the method 1100 is performed by a mobile phone or other electronic device, the display device can be a display screen of the mobile phone.

[0179] Exemplarily, the first type of icon can include the icon with the dark gray border and the "P" character in the middle in the foregoing embodiment, the second type of icon can include the icon with the light gray border and the blank in the middle in the foregoing embodiment, or the first type of icon and / or the second type of icon can also be other icons. The first type of icon is associated with the at least one parkable position, which can be understood as that each first type of icon indicates the coordinate of one of the at least one parkable position, and when a certain first type of icon is clicked, the vehicle can be controlled to park into the parkable position indicated by the first type of icon. The second type of icon is associated with the at least one unparkable position, which can be understood as that each first type of icon indicates the coordinate of one of the at least one unparkable position. Further, the first operation of selecting the first type of icon corresponding to the first parkable position can include any one of the following: an operation of clicking the first type of icon corresponding to the first parkable position in the parking interface, or an operation of selecting the first type of icon corresponding to the first parkable position by voice instruction, or can also be other operations of selecting the first type of icon corresponding to the first parkable position.

[0180] In some implementations, the method further includes: obtaining a second instruction generated by detecting a second operation of selecting the second type of icon; and controlling the prompting device to prompt first prompt information according to the second instruction, the first prompt information being used to prompt that the position associated with the second type of icon is an unparkable position, and / or the first prompt information being used to prompt to select one parkable position from the at least one parkable position.

[0181] Exemplarily, the second operation of selecting the second type of icon can include any one of the following: an operation of clicking any second type of icon in the parking interface, or an operation of selecting any second type of icon by voice instruction, or can also be other operations of selecting any second type of icon.

[0182] Exemplarily, the prompting device can include the display device described above, or the prompting device can also include a sound producing device (such as a speaker, a sound box, etc. in a vehicle or a mobile phone). The first prompt information can include the information shown in the dialog box 405, or the first prompt information can also include the information shown in the dialog box 505, or the first prompt information can also be audio played by the prompting device (such as "This parking space is not available, please select other parking space"). More specifically, "This parking space is not available" can be understood as an example of the first prompt information used to prompt that the position associated with the second type of icon is an unparkable position, and "Please select other parking space" can be understood as an example of the first prompt information used to prompt to select one parkable position from the at least one parkable position.

[0183] In some embodiments, the display device displays the first type of icons and the second type of icons through the first interface, and the method further includes: when the display device detects a third operation of selecting a second type of icon while displaying the first interface, controlling the first interface to remain unchanged for a first time length, the first time length being a time length between a time when the third operation is detected and a time when a fourth operation is detected, the fourth operation being an operation for the first interface that occurs after the third operation and is closest to the third operation; or when the display device detects the first operation while displaying the first interface, controlling the first interface to display a third type of icon corresponding to the first parkable position, the third type of icon indicating a position of the target parking position in the first area.

[0184] For example, the third operation can be an operation of clicking one second type of icon in the first interface, the fourth operation can be an operation of clicking one second type of icon in the first interface, or the fourth operation can also be an operation of clicking one first type of icon in the first interface. If the fourth operation is an operation of clicking one second type of icon in the first interface, the display device still controls the first interface to remain unchanged when the fourth operation is detected. It should be noted that controlling the first interface to remain unchanged can be understood as a manifestation that the second type of icon cannot be selected.

[0185] For example, the third type of icon can be the icon 406 shown in (d) of FIG. 6 or the icon 506 shown in (b) of FIG. 7, which indicates that the parking space corresponding to the icon is the target parking position.

[0186] In some embodiments, the first area includes a first sub-area, the first map information further indicates that the intensity of the first communication signal in the first sub-area is less than or equal to an intensity threshold, the path for the vehicle to travel to the target parking position includes a first sub-path and a second sub-path, the first sub-path passes through the first sub-area, and the intensity of the first communication signal in the area passed through by the second sub-path is greater than the intensity threshold; and the method further includes: controlling the display device to display a first path icon and a second path icon, the first path icon indicating the first sub-path, and the second path icon indicating the second sub-path, the first path icon and the second path icon being different in at least one of color and line type.

[0187] For example, the intensity of the first communication signal in the first sub-area being less than or equal to the intensity threshold can be understood as: the average intensity or the maximum intensity of the first communication signal in the first sub-area being less than or equal to the intensity threshold; or the proportion of the number of signal intensity information associated with the first sub-area and indicating that the intensity of the first communication signal is less than or equal to the intensity threshold to the total number of signal intensity information of the first communication signal associated with the first sub-area being less than or equal to a proportion threshold. The intensity threshold can be the intensity threshold 1 or the intensity threshold 2 in S23, or can also be other numerical values; the proportion threshold can be the proportion threshold 1 or the proportion threshold 2 in S23, or can also be other numerical values.

[0188] Exemplarily, taking the first communication signal as an a-type signal for example, the first sub-area can be the area e in the foregoing embodiment. Further, the first path icon can be the path 408 (or the path 508) in the foregoing embodiment, and the second path icon can include the paths 407 and 409 (or the paths 507 and 509) in the foregoing embodiment. In addition to the paths shown in FIGS. 6 and 7, the first path icon can be a dashed line icon, and the second path icon can be a solid line icon, so as to distinguish the signal strengths of different paths.

[0189] S1130, according to the first instruction, controlling the vehicle to travel to the target parking position.

[0190] In some implementations, the method further includes: when the vehicle travels to the first sub-area, controlling the prompting device to prompt second prompting information, the second prompting information being used to prompt at least one of: that the strength of the first communication signal in the first sub-area is less than or equal to the strength threshold value; the length of the first sub-path; the remaining length of the first sub-path; an image of the environment around the vehicle; a motion state of the vehicle; or a state of attention to the vehicle.

[0191] Exemplarily, the second prompting information can include the dialog box 512 and / or the dialog box 513 in (a) of FIG. 8. “Current network connection is weak” can be regarded as an example of the second prompting information prompting that the strength of the first communication signal in the first sub-area is less than or equal to the strength threshold value, “Cruising slowly” can be regarded as an example of the second prompting information prompting the motion state of the vehicle, and the video displayed in the dialog box 513 can be regarded as an example of the second prompting information prompting the image of the environment around the vehicle.

[0192] In some implementations, the method further includes: controlling the vehicle to travel along the first sub-path at a first speed, and controlling the vehicle to travel along the second sub-path at a second speed; wherein the first speed is less than the second speed.

[0193] In some implementations, the path for the vehicle to travel to the target parking position includes a first path and a second path, and the method further includes: when the first path passes through an area in which the strength of the first communication signal is less than or equal to the strength threshold value, and the second path does not pass through an area in which the strength of the first communication signal is less than or equal to the strength threshold value, controlling the vehicle to travel to the target parking position along the second path; or when the length of the part of the first path in which the strength of the first communication signal is less than or equal to the strength threshold value is greater than or equal to a length threshold value, and the second path does not have a part in which the strength of the first communication signal is less than or equal to the strength threshold value and the length is greater than or equal to the length threshold value, controlling the vehicle to travel to the target parking position along the second path.

[0194] Exemplarily, the first path can include the path 704 shown in FIG. 9, and the second path can include the path 703 shown in FIG. 9.

[0195] In some implementations, when it is detected that the first type icon corresponding to the second parking space in the at least one parking space is selected, a driving path of the vehicle from the current position to the second parking space is determined; when a portion of the driving path in which the strength of the first communication signal is less than or equal to the strength threshold is greater than or equal to the proportion threshold, the prompting device is controlled to prompt third prompt information, and the third prompt information is used to prompt at least one of the following: the second parking space is unreachable, or the target parking position is reselected.

[0196] The second parking space being unreachable means that, due to the proportion of the portion in which the strength of the wireless communication signal is weak in the path to the second parking space being too large, the automatic parking function is limited, so that the vehicle cannot be safely driven to the second parking space by the automatic parking function.

[0197] Exemplarily, the third prompt information can be "route planning fails, please reselect the target parking position".

[0198] When the automatic parking system is used in a parking lot, the wireless communication signal in some areas of the parking lot is weak and unstable (a garage scene), and there is a large delay in the interaction between the cloud server and the vehicle, so that the information received by the mobile phone from the cloud server has a time delay, resulting in a poor parking experience for the user, and even a risk of losing control of the vehicle state. The control method provided in the embodiments of the present application can be used in a scene in which the wireless communication signal is weak or unstable, and the available parking spaces and drivable paths in the parking area can be determined in combination with the strength of the wireless communication signal, so as to avoid parking the vehicle in an area in which the wireless communication signal is weak, which helps to improve the safety during parking and thus improves the user experience.

[0199] In various embodiments of the present application, the terms and / or descriptions of various embodiments are consistent and can be mutually referred to if there is no special description and logical conflict. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0200] The control method provided in the embodiments of the present application is described in detail above in combination with FIGS. 1 to 11. The device provided in the embodiments of the present application will be described in detail below in combination with FIGS. 12 and 13. It should be understood that the description of the device embodiments corresponds to the description of the method embodiments, and therefore, the content not described in detail can be referred to the method embodiments described above, and will not be described again here for brevity.

[0201] FIG. 12 shows a schematic block diagram of the control device 2000 provided by the embodiments of the present application, which can include units for performing the steps performed by the device 1 or the vehicle 2 in the method 20, or the device 2000 can also include units for performing the method 1100. Each unit in the device 2000 is configured to implement the corresponding process of the method embodiments described above. The device 2000 includes a first obtaining unit 2010 and a second obtaining unit 2020, which can be configured to implement the corresponding data obtaining or transceiving functions. The device 2000 further includes a processing unit 2030, which can be configured to implement the corresponding processing functions.

[0202] Optionally, the device 2000 further includes a storage unit, which can be configured to store instructions and / or data. The processing unit 2030 can read the instructions and / or data in the storage unit, so that the device implements the related actions in the foregoing various method embodiments.

[0203] It should be understood that the specific process by which each unit performs the corresponding steps described above has been described in detail in the foregoing method embodiments, and thus will not be described here for brevity.

[0204] It should also be understood that the device 2000 herein is embodied in the form of functional units. The term “module” or “unit” herein can refer to an application-specific ASIC, an electronic circuit, a processor (shared, dedicated, or group) and memory for executing one or more software or firmware programs, a combined logic circuit and a suitable component for supporting the described functions.

[0205] The device of each of the above-described solutions has the function of implementing the corresponding steps performed by the processor 110 in the above-described method. The function can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described functions; for example, the first obtaining unit 2010 and / or the second obtaining unit 2020 can be replaced by a transceiver, and other units such as the processing unit can be replaced by a processor, for performing the related processing operations in the various method embodiments.

[0206] In an example, the first obtaining unit 2010, the second obtaining unit 2020 and the processing unit 2030 can be arranged in the electronic device 100 shown in FIG. 1 or FIG. 2, more specifically, the first obtaining unit 2010 can be arranged in the mobile communication module 150 or the wireless communication module 160 or the processor 110, the second obtaining unit 2020 can be arranged in the pressure sensor 180A or the processor 110, and the processing unit 2030 can be arranged in the processor 110. In another example, the first obtaining unit 2010, the second obtaining unit 2020 and the processing unit 2030 can be arranged in the intelligent driving device 200 shown in FIG. 1, more specifically, the first obtaining unit can be arranged in the communication system 240 or the computing platform 250, the second obtaining unit 2020 can be arranged in the perception system 220 or the computing platform 250, and the processing unit can be arranged in the computing platform 250.

[0207] In the process of implementation, each unit in the above apparatus can be integrated together in whole or in part, or can be independently implemented. In an implementation, the units are integrated together to be implemented in the form of a system on a chip (SoC).

[0208] FIG. 13 is another schematic block diagram of a control device provided by an embodiment of the present application. The control device 2100 shown in FIG. 13 can include a processor 2110, a transceiver 2120 and a memory 2130. The processor 2110, the transceiver 2120 and the memory 2130 are connected through an internal connection path, the memory 2130 is configured to store instructions, and the processor 2110 is configured to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Alternatively, the memory 2130 can be coupled to the processor 2110 through an interface, or can be integrated with the processor 2110.

[0209] It should be noted that the transceiver 2120 can include, but is not limited to, a transceiving device such as an input / output interface to implement the communication between the device 2100 and other devices or communication networks.

[0210] The memory 2130 can be volatile memory and / or nonvolatile memory. The nonvolatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically EPROM (EEPROM), or flash memory, for example. The volatile memory can be random access memory (RAM), for example. The RAM can be external cache memory, for example. As examples without limitation, the RAM includes the following types: static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0211] The transceiver 2120 uses a transceiving device such as, but not limited to, a transceiver to implement communication between the device 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above embodiments.

[0212] The embodiments of the present application further provide an electronic device, which includes the control device 2000 or the control device 2100 in the above embodiments.

[0213] The embodiments of the present application further provide a computer program product, which includes computer program codes, and when the computer program codes are run on a computer, the computer is caused to implement the methods in the above embodiments of the present application.

[0214] The embodiments of the present application further provide a computer readable storage medium, which stores computer instructions, and when the computer instructions are run on a computer, the computer is caused to implement the methods in the above embodiments of the present application.

[0215] The embodiments of the present application further provide a chip, which includes a circuit for implementing the methods in the above embodiments of the present application.

[0216] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0217] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" herein is a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In the present application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or similar expressions means any combination of these items, including any combination of single item or multiple items. For example, at least one of a, b, or c can mean a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0218] In the embodiments of the present application, the prefix words such as "first", "second" are used only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of ordinal words such as ordinal words in the embodiments of the present application does not constitute a limitation on the described objects, and the description of the described objects should be referred to the description of the context in the claims or embodiments, and should not constitute redundant limitations because of the use of such prefix words.

[0219] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the above-described device embodiments are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed objects can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0220] In various embodiments of the present application, the terms and / or descriptions of various embodiments are consistent and can be mutually referred to, unless otherwise specified and logically conflicted, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0221] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment of the present application according to actual needs.

[0222] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0223] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method, characterized in that, include: Obtain first map information for a first area, the first map information indicating at least one parking location and at least one non-parking location in the first area, the at least one parking location and / or the at least one non-parking location being determined based on the strength of a first communication signal, the first communication signal being a signal used by the vehicle to communicate with the outside world; Obtain a first instruction, wherein the first instruction indicates that the first of the at least one available parking locations is the target parking location; According to the first instruction, the vehicle is controlled to drive toward the target parking location.

2. The method according to claim 1, characterized in that, The method further includes: The control display device displays a first type of icon and a second type of icon, the first type of icon being associated with the at least one available parking location and the second type of icon being associated with the at least one unparkable location, the first instruction being generated upon detecting a first operation that selects the first type of icon corresponding to the first available parking location.

3. The method according to claim 2, characterized in that, The method further includes: Obtain a second instruction, which is generated by detecting a second operation that selects the second type of icon; According to the second instruction, the control prompting device displays a first prompting message, which is used to indicate that the location associated with the second type of icon is a non-parking location, and / or the first prompting message is used to prompt the user to select a parking location from the at least one available parking space.

4. The method according to claim 2, characterized in that, The display device displays the first type of icon and the second type of icon through a first interface, and the method further includes: When the first interface detects a third operation involving the selection of the second type of icon, the first interface is controlled to remain unchanged for a first duration, the first duration being the duration between the moment the third operation is detected and the moment the fourth operation is detected, the fourth operation being the operation on the first interface that occurs after the third operation and is the nearest neighbor to the third operation; or When the first operation is detected on the first interface, the first interface is controlled to display a third type of icon corresponding to the first available parking location. The third type of icon indicates the location of the target parking location in the first area.

5. The method according to any one of claims 1 to 4, characterized in that, The first area includes a first sub-area, and the first map information further indicates that the strength of the first communication signal in the first sub-area is less than or equal to a strength threshold. The path taken by the vehicle to the target parking location includes a first sub-path and a second sub-path. The first sub-path passes through the first sub-area, and the strength of the first communication signal in the area traversed by the second sub-path is greater than the strength threshold. The method further includes: The control display device displays a first path icon and a second path icon, the first path icon indicating the first sub-path and the second path icon indicating the second sub-path, wherein the first path icon and the second path icon are different in at least one of color and line type.

6. The method according to claim 5, characterized in that, The method further includes: When the vehicle travels to the first sub-area, the control prompting device displays a second prompt message, which is used to prompt at least one of the following: The strength of the first communication signal in the first sub-region is less than or equal to the strength threshold; The length of the first sub-path; The remaining length of the first sub-path; The motion state of the vehicle; An image of the environment surrounding the vehicle; or... Observe the condition of the vehicle carefully.

7. The method according to claim 5 or 6, characterized in that, The method further includes: Control the vehicle to travel along the first sub-path at a first speed, and control the vehicle to travel along the second sub-path at a second speed; Wherein, the first speed is less than the second speed.

8. The method according to any one of claims 1 to 7, characterized in that, The path taken by the vehicle to the target parking location includes a first path and a second path, and the method further includes: When the first path passes through an area where the strength of the first communication signal is less than or equal to a strength threshold, and the second path does not pass through an area where the strength of the first communication signal is less than or equal to the strength threshold, the vehicle is controlled to travel along the second path to the target parking position; or... If the length of the portion of the first communication signal whose strength is less than or equal to the strength threshold in the first path is greater than or equal to the length threshold, and the second path does not have a portion of the first communication signal whose strength is less than or equal to the strength threshold whose length is greater than or equal to the length threshold, the vehicle is controlled to travel along the second path to the target parking position.

9. A control device, characterized in that, include: The first acquisition unit is configured to acquire first map information of a first area, wherein the first map information indicates at least one parking location and at least one non-parking location in the first area, wherein the at least one parking location and / or the at least one non-parking location is determined based on the strength of a first communication signal, wherein the first communication signal is a signal used by the vehicle to communicate with the outside world. The second acquisition unit is used to acquire a first instruction, wherein the first instruction indicates that the first available parking location among the at least one available parking location is the target parking location; The processing unit is configured to control the vehicle to move toward the target parking location according to the first instruction.

10. The apparatus according to claim 9, characterized in that, The processing unit is also used for: The control display device displays a first type of icon and a second type of icon, the first type of icon being associated with the at least one available parking location and the second type of icon being associated with the at least one unparkable location, the first instruction being generated upon detecting a first operation that selects the first type of icon corresponding to the first available parking location.

11. The apparatus according to claim 10, characterized in that, The second acquisition unit is further configured to: Obtain a second instruction, which is generated by detecting a second operation that selects the second type of icon; The processing unit is further configured to: control the prompting device to display first prompting information according to the second instruction, wherein the first prompting information is used to indicate that the location associated with the second type of icon is a non-parking location, and / or the first prompting information is used to prompt the user to select a parking location from the at least one available parking space.

12. The apparatus according to claim 10, characterized in that, The display device displays the first type of icon and the second type of icon through a first interface. The device further includes a detection unit, and the processing unit is further configured to: When the detection unit detects a third operation of selecting the second type of icon on the first interface, it controls the first interface to remain unchanged for a first duration. The first duration is the duration between the time when the third operation is detected and the time when the fourth operation is detected. The fourth operation is an operation on the first interface that occurs after the third operation and is the closest to the third operation. or When the detection unit detects the first operation on the first interface, it controls the first interface to display a third type of icon corresponding to the first available parking location. The third type of icon indicates the location of the target parking location in the first area.

13. The apparatus according to any one of claims 9 to 12, characterized in that, The first area includes a first sub-area, and the first map information further indicates that the strength of the first communication signal in the first sub-area is less than or equal to a strength threshold. The path taken by the vehicle to the target parking location includes a first sub-path and a second sub-path. The first sub-path passes through the first sub-area, and the strength of the first communication signal in the area traversed by the second sub-path is greater than the strength threshold. The processing unit is further configured to: The control display device displays a first path icon and a second path icon, the first path icon indicating the first sub-path and the second path icon indicating the second sub-path, wherein the first path icon and the second path icon are different in at least one of color and line type.

14. The apparatus according to claim 13, characterized in that, The processing unit is also used for: When the vehicle travels to the first sub-area, the control prompting device displays a second prompt message, which is used to prompt at least one of the following: The strength of the first communication signal in the first sub-region is less than or equal to the strength threshold; The length of the first sub-path; The remaining length of the first sub-path; The motion state of the vehicle; An image of the environment surrounding the vehicle; or... Observe the condition of the vehicle carefully.

15. The apparatus according to claim 13 or 14, characterized in that, The processing unit is also used for: Control the vehicle to travel along the first sub-path at a first speed, and control the vehicle to travel along the second sub-path at a second speed; Wherein, the first speed is less than the second speed.

16. The apparatus according to any one of claims 9 to 15, characterized in that, The path the vehicle travels to the target parking location includes a first path and a second path, and the processing unit is further configured to: When the first path passes through an area where the strength of the first communication signal is less than or equal to a strength threshold, and the second path does not pass through an area where the strength of the first communication signal is less than or equal to the strength threshold, the vehicle is controlled to travel along the second path to the target parking position; or... If the length of the portion of the first communication signal whose strength is less than or equal to the strength threshold in the first path is greater than or equal to the length threshold, and the second path does not have a portion of the first communication signal whose strength is less than or equal to the strength threshold whose length is greater than or equal to the length threshold, the vehicle is controlled to travel along the second path to the target parking position.

17. A control device, characterized in that, include: A processor for executing a computer program stored in memory to cause the apparatus to perform the method as described in any one of claims 1 to 8.

18. The apparatus according to claim 17, characterized in that, The device also includes the memory.

19. An electronic device, characterized in that, Includes the apparatus as described in any one of claims 9 to 18.

20. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, implement the method as described in any one of claims 1 to 8.

21. A computer program product, characterized in that, The computer program product includes: computer program code, which, when executed by a processor, implements the method as described in any one of claims 1 to 8.

22. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 8.

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