Parking method, device and vehicle

Abstract

A parking method, device and vehicle can be applied to the field of intelligent driving. The method comprises: obtaining a first parking trajectory, the first parking trajectory being a trajectory for parking a vehicle into a first parking pose in a target parking space; obtaining information of a first obstacle when parking into the target parking space along the first parking trajectory fails; obtaining a second parking pose in the target parking space according to the information of the first obstacle, the distance between the second parking pose and the first parking pose being greater than or equal to a first preset distance; and controlling the vehicle to park into the target parking space according to a second parking trajectory, the second parking trajectory being a trajectory for parking the vehicle into the second parking pose. The application can be applied to an intelligent vehicle or an electric vehicle, which helps to improve the parking experience of users and the intelligent level of the vehicle.

Description

Parking methods, devices and vehicles Technical Field

[0001] This application relates to the field of intelligent driving, and more specifically, to a parking method, apparatus, and vehicle. Background Technology

[0002] Automated parking (AP) refers to the automatic parking of a vehicle, meaning that an autonomous driving system can semi-automatically or fully automatically help the user park the vehicle in a parking space. Automated parking can include automated parking assist (APA), remote parking assist (RPA), and automated valet parking (AVP), among others.

[0003] When the user activates the automatic parking function, the vehicle can plan its target position when in the target parking space and plan the trajectory from the current position to the target parking space. If the vehicle fails to park in the target parking space according to the planned trajectory, the user may need to take over the vehicle, thus affecting the user's parking experience. Summary of the Invention

[0004] This application provides a parking method, device, and vehicle that helps improve the user's parking experience and also helps enhance the vehicle's intelligence.

[0005] In a first aspect, a parking method is provided, the method comprising: acquiring a first parking trajectory, the first parking trajectory being the trajectory of a vehicle parking into a first parking position in a target parking space; when parking into the target parking space along the first parking trajectory fails, acquiring information about a first obstacle; acquiring a second parking position in the target parking space based on the information about the first obstacle, the distance between the second parking position and the first parking position being greater than or equal to a first preset distance; and controlling the vehicle to park into the target parking space based on the second parking trajectory, the second parking trajectory being the trajectory of the vehicle parking into the second parking position.

[0006] Based on the above technical solution, when a vehicle fails to park in the first parking position, an updated second parking position can be obtained based on obstacle information. Since the distance between the first and second parking positions is greater than or equal to a first preset distance, this avoids the possibility of failing to park again due to adjusting the distance too small, thus improving the success rate of parking the vehicle in the target parking space. This, in turn, helps improve the user's parking experience and the vehicle's intelligence level.

[0007] In some possible implementations, the method further includes determining that the vehicle failed to park in the target parking space along the first parking trajectory due to a first obstacle. For example, the first obstacle may be a pedestrian, a speed bump, or a temporary obstacle.

[0008] In some possible implementations, the first obstacle is an obstacle that was not detected when the vehicle planned its first parking trajectory.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, the distance between the second parking position and the first parking position in a first direction is greater than or equal to a first preset distance, where the first direction is the direction away from the first obstacle.

[0010] Based on the above technical solution, adjusting the parking posture in a direction away from the first obstacle helps to improve the success rate of parking the vehicle into the target parking space, thereby improving the user's parking experience and the vehicle's intelligence level.

[0011] In some possible implementations, the first direction is parallel to the long side of the target parking space; or, the first direction is parallel to the short side of the target parking space.

[0012] In some possible implementations, taking the first direction as the short side direction of the target parking space as an example, when obtaining the second parking pose, the degree of freedom of the long side direction of the target parking space can be fixed, and the parking space can be moved away from the first obstacle along the short side direction of the target parking space, thereby obtaining the second parking pose.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, before obtaining the second parking position pose in the target parking space based on the information of the first obstacle, the method further includes: determining that no user operation to adjust the parking position pose is detected within a preset time period.

[0014] Based on the above technical solution, if no user adjustment of the parking position is detected within a preset time period, the vehicle can be controlled to continue parking in the target parking space based on the second parking position acquired by the vehicle. In this way, the vehicle can be parked in the target parking space without the user's awareness.

[0015] In conjunction with the first aspect, in some implementations of the first aspect, obtaining the second parking pose in the target parking space based on the information of the first obstacle includes: obtaining multiple parking poses based on the information of the first obstacle; and determining the pose closest to the first parking pose among the multiple parking poses as the second parking pose.

[0016] Based on the above technical solution, the vehicle can obtain multiple parking positions based on the information of the first obstacle, and determine the parking position closest to the first parking position as the second parking position. In this way, the second parking position can be automatically obtained from multiple parking positions using the proximity principle, and the final parking position can be closer to the user's initial selection.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, obtaining the second parking position posture in the target parking space based on the information of the first obstacle includes: obtaining the second parking position posture based on the information of the first obstacle and the user's driving habits.

[0018] Based on the above technical solution, the user's driving habits can be taken into account when obtaining the second parking position. This ensures that the vehicle is successfully parked in the target space while making the final parking position more consistent with the user's driving habits, thus improving the user's parking experience.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, obtaining the second parking position posture in the target parking space based on the information of the first obstacle includes: when the vehicle fails to park in the target parking space along the first parking trajectory, the control prompting device prompts the user to adjust the parking position posture; obtaining the second parking position posture based on the user's first input, wherein the first input is the user's input to adjust the parking position posture from the first parking position posture to the second parking position posture.

[0020] Based on the above technical solution, when the vehicle fails to park in the first parking position, the user can be prompted to adjust the parking position. This allows a second parking position to be obtained based on the user's human-computer interaction, ensuring that the final parking position better meets the user's expectations.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, obtaining the second parking position posture in the target parking space based on the information of the first obstacle includes: when the vehicle fails to park in the target parking space along the first parking trajectory and the vehicle's APA function is activated, the control prompting device prompts the user to adjust the parking position posture; obtaining the second parking position posture based on the user's first input, wherein the first input is the user's input to adjust the parking position posture from the first parking position posture to the second parking position posture.

[0022] In some possible implementations, obtaining the second parking position posture in the target parking space based on the information of the first obstacle includes: when the vehicle fails to park in the target parking space along the first parking trajectory and the vehicle has the RPA function, AVP function, or EPA function enabled, sending first information to the mobile terminal, the first information being used to instruct the user to adjust the parking position posture; and obtaining second information sent by the mobile terminal, the second information being used to indicate the second parking position posture.

[0023] In conjunction with the first aspect, in some implementations of the first aspect, before obtaining the second parking position based on the user's first input, the method further includes: obtaining the user's second input, the second input being the user's input to adjust the parking position from the first parking position to the third parking position via a display device; when the distance between the first parking position and the third parking position is less than or equal to a second preset distance, the control prompting device prompts the user to adjust the parking position.

[0024] Based on the above technical solution, if it is determined that the distance between the adjusted parking position and the original parking position is too close during the user's adjustment of the parking position, the user can be prompted to continue adjusting the parking position. This can prevent the vehicle from failing to park in the target parking space along the new parking trajectory again due to the adjustment being too close, which helps to improve the user's parking efficiency and thus improve the user's parking experience.

[0025] In some possible implementations, the second preset distance is smaller than the first preset distance.

[0026] In some possible implementations, when the distance between the first parking position and the third parking position is less than a first preset distance, the control prompting device prompts the user to adjust the parking position.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, obtaining the first parking trajectory includes: determining multiple parking poses in the target parking space and planning multiple parking trajectories based on the vehicle's current pose, environmental information around the vehicle, and target parking space information, wherein the multiple parking trajectories correspond one-to-one with the multiple parking poses; the control prompting device selects one from the multiple parking poses; and in response to obtaining a third input from the user, determining the first parking trajectory from the multiple parking trajectories, wherein the third input instructs the user to select the first parking pose.

[0028] Secondly, this application provides a parking device, comprising: an acquisition unit for acquiring a first parking trajectory, the first parking trajectory being the trajectory of a vehicle parking into a first parking position in a target parking space; the acquisition unit further for acquiring information about a first obstacle when parking into the target parking space along the first parking trajectory fails; the acquisition unit further for acquiring a second parking position in the target parking space based on the information about the first obstacle, the distance between the second parking position and the first parking position being greater than or equal to a first preset distance; and a control unit for controlling the vehicle to park into the target parking space based on the second parking trajectory, the second parking trajectory being the trajectory of the vehicle parking into the second parking position.

[0029] In conjunction with the second aspect, in some implementations of the second aspect, the distance between the second parking position and the first parking position in a first direction is greater than or equal to a first preset distance, where the first direction is the direction away from the first obstacle.

[0030] In conjunction with the second aspect, in some implementations of the second aspect, the device further includes a first determining unit, which is used to determine, before the acquiring unit acquires the second parking position posture in the target parking space, that no user operation to adjust the parking position posture has been detected within a preset time period.

[0031] In conjunction with the second aspect, in some implementations of the second aspect, the device further includes a second determining unit and an acquiring unit, configured to acquire multiple parking poses based on information about the first obstacle; the second determining unit is configured to determine the pose closest to the first parking pose among the multiple parking poses as the second parking pose.

[0032] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is used to: acquire the second parking position based on the information of the first obstacle and the user's driving habits.

[0033] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is used to control the prompting device to prompt the user to adjust the parking position when the vehicle fails to park in the target parking space along the first parking trajectory; the acquisition unit is used to acquire the second parking position based on the user's first input, the first input being the user's input to adjust the parking position from the first parking position to the second parking position.

[0034] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is used to acquire the user's second input before acquiring the second parking position, the second input being the user's input to adjust the parking position from the first parking position to the third parking position via the display device; the control unit is used to control the prompting device to prompt the user to adjust the parking position when the distance between the first parking position and the third parking position is less than a second preset distance.

[0035] In conjunction with the second aspect, in some implementations of the second aspect, the device further includes a third determining unit, which is used to determine multiple parking poses in the target parking space and plan multiple parking trajectories based on the current pose of the vehicle, environmental information around the vehicle, and target parking space information, wherein the multiple parking trajectories correspond one-to-one with the multiple parking poses; a control unit is used to control the prompting device to select one from the multiple parking poses; the third determining unit is also used to determine a first parking trajectory from the multiple parking trajectories in response to the acquisition unit acquiring a third input from the user, wherein the third input instructs the user to select the first parking pose.

[0036] Thirdly, a parking device is provided, the device including a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to cause the device to perform any of the possible parking methods in the first aspect.

[0037] Fourthly, a parking system is provided, which includes an upper sensing system and a computing platform, the computing platform including any of the possible devices of the second or third aspect described above.

[0038] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the parking system includes a warning device. Exemplarily, the warning device includes an audible device and a display device.

[0039] Fifthly, this application provides a vehicle that includes any of the possible devices in the second or third aspect above, or the vehicle includes the system described in the fourth aspect above.

[0040] Sixthly, this application provides a computer program product comprising: computer program code, which, when executed on a computer, causes the computer to perform any of the possible parking methods described in the first aspect above.

[0041] It should be noted that the above-mentioned computer program code can be stored in whole or in part on the first storage medium, wherein the first storage medium can be packaged together with the processor or packaged separately from the processor. This application embodiment does not specifically limit this.

[0042] In a seventh aspect, this application provides a computer-readable medium storing program code that, when executed on a computer, causes the computer to perform any of the possible parking methods described in the first aspect above.

[0043] Eighthly, this application provides a chip including circuitry for performing any of the possible methods described in the first aspect above. Attached Figure Description

[0044] Figure 1 is a functional block diagram of the vehicle provided in an embodiment of this application.

[0045] Figure 2 is a schematic block diagram of the ADAS provided in the embodiments of this application.

[0046] Figure 3 is a schematic flowchart of the parking method provided in an embodiment of this application.

[0047] Figures 4A-4D are schematic diagrams illustrating the generation of default parking pose and offset pose provided in the embodiments of this application.

[0048] Figure 5 is a human-machine interface (HMI) provided in an embodiment of this application.

[0049] Figure 6 shows another HMI provided in an embodiment of this application.

[0050] Figures 7A-7C are schematic diagrams of adjusting the parking position according to embodiments of this application.

[0051] Figure 8 shows another HMI provided in an embodiment of this application.

[0052] Figure 9 shows another HMI provided in an embodiment of this application.

[0053] Figure 10 is a schematic block diagram of a parking device provided in an embodiment of this application. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; "and / or" in this document is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. "At least one" refers to one or more. For example, "at least one of A and B," similar to "A and / or B," describes the association relationship between related objects, indicating that three relationships can exist. For example, at least one of A and B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0055] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not constitute unnecessary restrictions due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0056] Figure 1 is a functional block diagram of a vehicle 100 provided in an embodiment of this application. The vehicle 100 may include a sensing system 110, a computing platform 120, and a display device 130. The sensing system 110 may include one or more sensors for sensing information about the environment surrounding the vehicle 100. For example, the sensing system 110 may include a positioning system, which may be a Global Positioning System (GPS), a BeiDou system, or another positioning system. As another example, the sensing system 110 may include one or more of an inertial measurement unit (IMU), an accelerometer, a lidar, millimeter-wave radar, ultrasonic radar, and a camera device. For example, the accelerometer may include a sensor for detecting acceleration signals from the air suspension system, or it may include a sensor for detecting ESC acceleration signals.

[0057] Some or all of the functions of vehicle 100 can be controlled by computing platform 120. Computing platform 120 may include one or more processors, such as processors 121 to 12n (n being a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement the functions of some or all of the above units. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 120 may also include a memory for storing instructions. Some or all of the processors 121 to 12n can call the instructions in the memory to implement the corresponding functions.

[0058] The in-cabin display devices 130 are mainly divided into two categories: the first is the in-vehicle display screen; the second is the projection display screen, such as the head-up display (HUD). An in-vehicle display screen is a physical display screen and an important component of the in-vehicle infotainment system. Multiple displays can be installed in the cabin, such as the digital instrument cluster display, the central control screen, the display screen in front of the front passenger (also known as the front-seat passenger), the display screen in front of the left rear passenger, the display screen in front of the right rear passenger, and even the car window can be used as a display screen. A head-up display, also known as a head-up display system, is mainly used to display driving information such as speed and navigation on a display device in front of the driver (such as the windshield). This reduces the driver's eye-shift time, avoids pupil changes caused by eye-shifting, and improves driving safety and comfort. Examples of HUDs include combiner-HUD (C-HUD) systems, windshield-HUD (W-HUD) systems, and augmented reality HUD (AR-HUD) systems. It should be understood that HUDs can also evolve into other types of systems as technology progresses, and this application does not limit them.

[0059] The above description of the display device 130 uses an in-vehicle display screen and a projection display screen as examples, but the embodiments of this application are not limited thereto. For example, the display device 130 can also be a light display screen or a projection screen.

[0060] Vehicle 100 may include an advanced driving assistance system (ADAS). ADAS utilizes various sensors on the vehicle (including but not limited to: lidar, millimeter-wave radar, camera devices, ultrasonic sensors, global positioning system, inertial measurement unit) to acquire information from the vehicle's surroundings, and analyzes and processes the acquired information to achieve functions such as obstacle perception, target recognition, vehicle positioning, path planning, and driver monitoring / alerts, thereby improving the safety, automation, and comfort of driving the vehicle.

[0061] For example, Figure 2 shows a schematic block diagram of an ADAS provided in an embodiment of this application. Logically, the ADAS may include three main functional modules: a perception module 210, a decision-making module 220, and an execution module 230. The perception module 210 senses the environment surrounding the vehicle through sensors and inputs corresponding real-time data to the decision-making module 220. The decision-making module 220 makes corresponding decisions based on the information obtained by the perception module 210. The execution module 230 takes corresponding actions after receiving the decision signal from the decision-making module 220, such as driving, changing lanes, steering, braking, and issuing warnings.

[0062] The perception module 210, decision-making module 220 and execution module 230 can be located in the computing platform 120.

[0063] At different levels of autonomous driving (L0-L5), ADAS can achieve different levels of automated driving assistance based on artificial intelligence algorithms and information acquired by multiple sensors. The aforementioned autonomous driving levels (L0-L5) are based on the classification standards of the Society of Automotive Engineers (SAE). Level L0 is no automation; Level L1 is driver assistance; Level L2 is partial automation; Level L3 is conditional automation; Level L4 is high automation; and Level L5 is full automation. Levels L1 to L3 involve monitoring road conditions and reacting to them jointly, requiring the driver to take over dynamic driving tasks. Levels L4 and L5 allow the driver to completely transform into a passenger. For example, automatic parking can include APA, RPA, and AVP. With APA, the driver does not need to operate the steering wheel but still needs to control the accelerator and brake from outside the vehicle; with RPA, the driver can remotely park the vehicle from outside using a terminal (such as a mobile phone); with AVP, the vehicle can park without a driver. In terms of the corresponding autonomous driving levels, APA is roughly at Level 1, RPA is roughly at Level 2-3, and AVP is roughly at Level 4.

[0064] As mentioned earlier, after the user activates the automatic parking function, the vehicle can plan its target position when in the target parking space and plan the trajectory from the current position to the target parking space. If the vehicle fails to park in the target parking space according to the planned trajectory, the user may need to take over the vehicle, thus affecting the user's parking experience.

[0065] This application provides a parking method, apparatus, and vehicle. When the vehicle fails to park in a first parking position, an updated second parking position can be obtained based on obstacle information. Since the distance between the first and second parking positions is greater than or equal to a first preset distance, this avoids the possibility of failing to park again due to adjusting the distance too small. This helps improve the success rate of parking the vehicle in the target parking space, thereby enhancing the user's parking experience and the vehicle's intelligence level.

[0066] Figure 3 shows a schematic flowchart of a parking method 300 provided in an embodiment of this application. Method 300 can be executed by the vehicle 100, or by the computing platform 120, or by a system consisting of the computing platform 120 and the perception system 110, or by a system-on-a-chip (SoC) in the computing platform 120, or by a processor, chip, or circuit in the computing platform 120, or by the decision module 220. Method 300 includes:

[0067] S310, Obtain the first parking trajectory, which is the trajectory of the vehicle parking into the first parking space in the target parking space.

[0068] Optionally, obtaining the first parking trajectory includes: determining multiple parking poses in the target parking space and planning multiple parking trajectories based on the vehicle's current pose, environmental information around the vehicle, and target parking space information, with each parking trajectory corresponding to one of the multiple parking poses; the control prompting device selecting one from the multiple parking poses; and in response to obtaining a third input from the user, determining the first parking trajectory from the multiple parking trajectories, with the third input instructing the user to select the first parking pose.

[0069] Optionally, the method 300 includes: determining a default parking pose based on a collision safety threshold hard boundary and a door opening characteristic soft boundary; and determining an offset pose based on the default parking pose. The multiple parking poses may include the default parking pose and the offset pose.

[0070] For example, the collision safety threshold hard boundary indicates that after the vehicle parks in the target parking space, the distance between the side closest to the obstacle and the obstacle is greater than or equal to a preset distance 1. For example, the preset distance 1 can be 20cm.

[0071] For example, the soft boundary of the door opening feature indicates that the distance from the door to the nearest obstacle before the door opens is greater than or equal to a preset distance 2. For example, the preset distance 2 can be 40cm.

[0072] Optionally, the rules for generating the offset pose include, but are not limited to, one or more of the following (1)-(3):

[0073] (1) Satisfy the hard boundary constraint of the collision safety threshold;

[0074] (2) The offset relative to the default parking position is greater than or equal to 5cm;

[0075] (3) The offset pose must not cross the boundary line of the target parking space.

[0076] Figures 4A-4D illustrate schematic diagrams of generating default parking poses and offset poses provided by embodiments of this application.

[0077] For example, as shown in Figure 4A, if the center line of the default parking pose is offset by less than 5cm from the center line of the target parking space, the default parking pose can be regarded as a centered pose. Based on this, a right-leaning pose can be generated based on the position of the obstacle.

[0078] For example, as shown in Figure 4B, if the center line of the default parking pose is offset by less than 5cm from the center line of the target parking space, the default parking pose can be regarded as a centered pose. Based on this, left-leaning poses and right-leaning poses can be generated based on the position of the obstacle.

[0079] For example, as shown in Figure 4C, if the center line of the default parking pose is offset to the right by more than 5cm relative to the center line of the target parking space, the default parking pose can be regarded as a right-leaning pose. Based on this, a centered pose and a left-leaning pose can be generated based on the position of the obstacle.

[0080] For example, as shown in Figure 4D, if the center line of the default parking pose is offset by less than 5cm from the center line of the target parking space, the default parking pose can be regarded as a centered pose. Based on this, left-leaning poses and right-leaning poses can be generated based on the positions of the vehicles on both sides of the target parking space.

[0081] Optionally, the method 300 further includes: when obtaining the default parking pose and the offset pose, the vehicle can plan multiple parking trajectories from the current position to the default parking pose and the offset pose.

[0082] For example, a vehicle can plan multiple parking trajectories from its current position to the default parking pose and offset pose based on the A* algorithm or a hybrid A* algorithm. This ensures that when a user selects a pose and confirms that parking is about to begin, the vehicle can directly park in the target parking space based on the planned parking trajectory.

[0083] For example, Figure 5 illustrates a human machine interface (HMI) provided in an embodiment of this application.

[0084] As shown in Figure 5, when the system detects that the user has activated the APA function and selected the target parking space 1, the vehicle 100 can prompt the user to select a left-leaning, centering, or right-leaning parking position via the central control screen. When the system detects that the user has selected the centering position and clicked the start parking control 501, the vehicle 100 can park along the parking trajectory 1 in the centering position (which can be referred to as centering position 1).

[0085] S320: When failing to park in the target parking space along the first parking trajectory, obtain information about the first obstacle.

[0086] Optionally, the method 300 further includes: determining that the vehicle failed to park in the target parking space along the first parking trajectory due to a first obstacle. For example, the first obstacle may be a pedestrian, a speed bump, or a temporary obstacle.

[0087] Optionally, the first obstacle is an obstacle that was not detected when the vehicle planned its first parking trajectory.

[0088] For example, Figure 6 illustrates another HMI provided in an embodiment of this application.

[0089] As shown in Figure 6, during the process of vehicle 100 parking into the centered position along parking trajectory 1, it is detected that vehicle 200 on one side of the target position has opened its door. When it is determined that the constraint of the hard boundary of the collision safety threshold between the centered position and the door of vehicle 200 is not met, the vehicle can be controlled to stop. At this time, vehicle 100 can display a prompt box 601 on the central control screen. The prompt box 601 includes the prompt message "The vehicle has been stopped by an obstacle on the right side of the centered position. The target position has been moved away from the obstacle for you", a confirmation control, a custom parking position control, and a cancellation control.

[0090] Optionally, the confirmation control also includes countdown information. If no user input is detected after the countdown ends, the vehicle can park in the target parking space based on the second parking space position.

[0091] S330: Based on the information of the first obstacle, obtain the second parking position pose in the target parking space, and the distance between the second parking position pose and the first parking position pose is greater than or equal to the first preset distance.

[0092] Optionally, the distance between the second parking position and the first parking position in a first direction is greater than or equal to a first preset distance, where the first direction is the direction away from the first obstacle.

[0093] For example, the first preset distance is 5cm.

[0094] For example, Figures 7A and 7B show schematic diagrams of adjusting parking position provided in embodiments of this application.

[0095] As shown in Figure 7A, the first parking position is the center position 1, which is offset to the right by 3cm relative to the center line of the target parking space 1.

[0096] As shown in Figure 7B, when vehicle 100 fails to park in the target parking space along the first parking trajectory, the parking pose can be adjusted in the x-direction based on the door position of vehicle 200 until the adjusted parking pose satisfies the hard boundary constraint of the collision safety threshold. It can be seen that after the adjusted parking pose is shifted 4cm to the left relative to the centerline of the target parking space 1, the adjusted parking pose satisfies the hard boundary constraint of the collision safety threshold. The adjusted parking pose can also be called the centered pose, which can be referred to here as centered pose 2. After obtaining the adjusted centered pose 2, the vehicle can generate a left-leaning pose 1 based on the centered pose 2. For example, this left-leaning pose 1 is shifted 9cm to the left relative to the centerline of the target parking space 1. If the left-leaning pose 1 also satisfies the hard boundary constraint of the collision safety threshold, then the centered pose 1 and the left-leaning pose 1 can be determined as parking poses in the candidate parking pose set.

[0097] As shown in Figure 7C, when vehicle 100 fails to park in the target parking space along the first parking trajectory, the parking posture can be adjusted in the x-direction based on the door position of vehicle 200 until the adjusted parking posture meets the hard boundary constraint of the collision safety threshold. It can be seen that after the adjusted parking posture 2 is shifted 1cm to the left relative to the center line of the target parking space 1, the adjusted parking posture meets the hard boundary constraint of the collision safety threshold. Since the distance between the adjusted parking posture 2 and the centering posture 1 in the x-direction is less than the first preset distance, the parking posture can continue to be adjusted in the x-direction until the distance between the adjusted parking posture and the centering posture 1 in the x-direction equals the first preset distance. For example, after the adjusted parking posture is shifted 2cm to the left relative to the center line of the target parking space 1, the distance between the adjusted parking posture and the centering posture 1 in the x-direction equals the first preset distance; here, the adjusted parking posture can be referred to as the centering posture 3. After obtaining the adjusted centered pose 3, the vehicle can generate a left-leaning pose 2 based on the centered pose 3. For example, this left-leaning pose 2 is offset 7cm to the left relative to the centerline of the target parking space 1. If the left-leaning pose 2 also satisfies the constraint of the hard boundary of the collision safety threshold, then the centered pose 3 and the left-leaning pose 2 can be determined as parking poses in the candidate parking pose set.

[0098] Optionally, the vehicle can also perform graded adjustments to its parking pose. For example, if vehicle 100 fails to park in the target parking space along the first parking trajectory, the parking pose can be adjusted in the x-direction based on the door position of vehicle 200. For example, the distance in the x-direction between the first-level parking pose (referred to here as the center pose 4) and the center pose 1 is equal to 5cm, the distance in the x-direction between the second-level parking pose (referred to here as the left-leaning pose 3) and the center pose 1 is equal to 10cm, and the distance in the x-direction between the third-level parking pose (referred to here as the left-leaning pose 4) and the center pose 1 is equal to 15cm. If the center pose 4 and the left-leaning pose 3 satisfy the hard boundary constraint of the collision safety threshold, and the left-leaning pose 4 does not satisfy the hard boundary constraint of the collision safety threshold, then the center pose 4 and the left-leaning pose 3 can be determined as parking poses in the candidate parking pose set.

[0099] In this embodiment, adjusting the parking posture in a direction away from the first obstacle helps improve the success rate of parking the vehicle into the target parking space, thereby improving the user's parking experience and the vehicle's intelligence level.

[0100] Optionally, the first direction is parallel to the long side of the target parking space; or, the first direction is parallel to the short side of the target parking space.

[0101] Optionally, taking the first direction as the short side direction of the target parking space as an example, when obtaining the second parking position, the degree of freedom of the long side direction of the target parking space can be fixed, and the parking space can be moved away from the first obstacle along the short side direction of the target parking space, thereby obtaining the second parking position.

[0102] For example, as shown in Figures 7B and 7C, during the process of adjusting the parking position, the parking position can be adjusted in the x direction while keeping the parking position unchanged in the y direction.

[0103] Optionally, before obtaining the second parking position pose in the target parking space based on the information of the first obstacle, the method further includes: determining that no user operation to adjust the parking position pose is detected within a preset time period.

[0104] For example, as shown in Figure 6, if no user click on the custom parking position is detected 10 seconds after the display prompt box 601 is displayed, the vehicle can determine the second parking position from the above candidate parking positions.

[0105] Optionally, after the vehicle regains a second parking position, an audio device can be controlled to notify the user that the parking position has been replanned. For example, the audio device can be controlled to announce, "The vehicle was detected to be stuck by an obstacle during automatic parking. The parking position has been regained, and no intervention is required."

[0106] In this embodiment, if no user adjustment of the parking position is detected within a preset time period, the vehicle can be controlled to continue parking in the target parking space based on the second parking position acquired by the vehicle. This allows the vehicle to park in the target parking space without the user noticing.

[0107] Optionally, obtaining a second parking pose in the target parking space based on the information of the first obstacle includes: obtaining multiple parking poses based on the information of the first obstacle; and determining the pose closest to the first parking pose among the multiple parking poses as the second parking pose.

[0108] For example, as shown in Figure 7B, a set of candidate parking poses can be obtained based on the information of the first obstacle, and the centering pose 2, which is closest to the centering pose 1 in the set of candidate parking poses, can be determined as the second parking pose.

[0109] For example, as shown in Figure 7C, a set of candidate parking poses can be obtained based on the information of the first obstacle, and the centering pose 3, which is closest to the centering pose 1 in the set of candidate parking poses, can be determined as the second parking pose.

[0110] In this embodiment, the vehicle can obtain multiple parking positions based on information about a first obstacle, and determine the parking position closest to the first parking position as the second parking position. This allows the second parking position to be automatically obtained from multiple parking positions using a proximity principle, and also makes the final parking position closer to the user's initial selection.

[0111] Optionally, obtaining a second parking position in the target parking space based on the information of the first obstacle includes: obtaining the second parking position based on the information of the first obstacle and the user's driving habits.

[0112] For example, the vehicle can record the driver's driving habits. The vehicle can statistically analyze the driver's preferences when manually parking the vehicle in a target parking space over a period of time (e.g., one month). For instance, if the driver parks the vehicle 50 times in one month, and the vehicle's position in the parking space is centered 40 times, then it can be determined that the driver's driving habit is to park the vehicle in the center. As shown in Figure 7B, a set of candidate parking positions can be obtained based on the information of the first obstacle, and the centered position 2 in the candidate parking position set can be determined as the second parking position.

[0113] For example, if a driver parks their vehicle 50 times in a month, and the vehicle is in a left-leaning position in the parking space 30 times, then it can be determined that the driver's driving habit is to park to the left. As shown in Figure 7B, a set of candidate parking positions can be obtained based on the information of the first obstacle, and the left-leaning position 1 in the candidate parking position set can be determined as the second parking position.

[0114] In this embodiment, the user's driving habits can be considered when obtaining the second parking position. This ensures that the vehicle is successfully parked in the target space while making the final parking position more consistent with the user's driving habits, thus improving the user's parking experience.

[0115] Optionally, based on the information of the first obstacle, obtaining the second parking position in the target parking space includes: when the vehicle fails to park in the target parking space along the first parking trajectory, the control prompting device prompts the user to adjust the parking position; and based on the user's first input, obtaining the second parking position, wherein the first input is the user's input to adjust the parking position from the first parking position to the second parking position.

[0116] For example, Figure 8 illustrates another HMI provided in an embodiment of this application.

[0117] As shown in Figure 8, in response to the detection of a user clicking the custom parking pose control, the vehicle can display the custom parking pose interface shown in Figure 8 on the central control screen. On this display interface, the user can drag the centered pose 1. When the user is detected dragging the centered pose 1 along the x-direction and when the user's finger switches from touching the central control screen to not touching it, the adjusted parking pose 1 can be obtained. If the parking pose 1 satisfies the hard boundary constraint of the collision safety threshold and the distance between the parking pose 1 and the centered pose 1 in the x-direction is greater than or equal to a first preset distance, the parking pose 1 can be used as the second parking pose, thereby allowing the planning of a parking trajectory towards the parking pose 1.

[0118] Optionally, when the vehicle acquires the second parking position adjusted by the user, a sound device can be controlled to notify the user. For example, the sound device can be controlled to announce "Your customized parking position has been acquired".

[0119] In this embodiment, when the vehicle fails to park in the first parking position, the user can be prompted to adjust the parking position. This allows the user to obtain the second parking position based on the user's human-computer interaction results, ensuring that the final parking position better meets the user's expectations.

[0120] Optionally, based on the information of the first obstacle, the second parking position in the target parking space is obtained, including: when the vehicle fails to park in the target parking space along the first parking trajectory and the vehicle's APA function is activated, the control prompt device prompts the user to adjust the parking position; based on the user's first input, the second parking position is obtained, where the first input is the user's input to adjust the parking position from the first parking position to the second parking position.

[0121] For example, if the vehicle's APA function is enabled, the vehicle can display the HMI shown in Figure 8 or Figure 9 on the central control screen.

[0122] Optionally, based on the information of the first obstacle, obtaining the second parking position in the target parking space includes: when the vehicle fails to park in the target parking space along the first parking trajectory and the vehicle has enabled RPA, AVP, or EPA functions, sending first information to the mobile terminal, the first information being used to instruct the user to adjust the parking position; and obtaining second information sent by the mobile terminal, the second information being used to indicate the second parking position.

[0123] For example, taking a vehicle with RPA, AVP, or EPA functions enabled, after the vehicle fails to park in the first parking position along the first parking trajectory, it can send a first message to the mobile phone. In response to receiving this first message, the mobile phone can display the centered position 1 and the environmental information around the vehicle, and can prompt the user to drag the centered position 1 on the phone's display screen. When it detects that the user is dragging the centered position 1 along the x-direction and that the user's finger has switched from touching the central control screen to not touching it, the adjusted parking position 1 can be obtained. If the parking position 1 meets the constraints of the collision safety threshold hard boundary and the distance between the parking position 1 and the centered position 1 in the x-direction is greater than or equal to a first preset distance, the mobile phone can send the information of the parking position 1 to the vehicle. In response to receiving the message sent by the mobile phone, the vehicle can use the parking position 1 as the second parking position, thereby planning a parking trajectory towards the parking position 1.

[0124] Optionally, before obtaining the second parking position based on the user's first input, the method further includes: obtaining the user's second input, the second input being the user's input to adjust the parking position from the first parking position to the third parking position via a display device; when the distance between the first parking position and the third parking position is less than or equal to a second preset distance, the control prompting device prompts the user to adjust the parking position.

[0125] For example, Figure 9 illustrates another HMI provided in an embodiment of this application.

[0126] As shown in Figure 9, in response to the user clicking the custom parking posture control, the vehicle can display the custom parking posture display interface shown in Figure 9 on the central control screen. On this display interface, the user can drag the centered posture 1. When the user is detected dragging the centered posture 1 along the x-direction and the user's finger switches from touching the central control screen to not touching it, the adjusted parking posture 3 can be obtained. If the distance between the parking posture 3 and the centered posture 1 in the x-direction is less than a first preset distance, the vehicle can display a prompt box 901 on the central control screen. This prompt box 901 includes the message "The adjusted parking posture is too close to the previous parking posture, and parking may still fail. It is recommended that you move the parking posture away from obstacles again."

[0127] When the system detects that the user continues to drag the parking position 3 along the x-direction and that the user's finger switches from touching the central control screen to not touching the central control screen, the adjusted parking position 4 can be obtained. If the distance between the parking position 4 and the centering position 1 in the x-direction is greater than or equal to a first preset distance, the parking position 4 can be used as the second parking position, thereby allowing the planning of a parking trajectory towards the parking position 4.

[0128] In this embodiment, if it is determined that the distance between the adjusted parking position and the original parking position is too close during the user's adjustment of the parking position, the user can be prompted to continue adjusting the parking position to avoid the vehicle failing to park in the target parking space along the new parking trajectory again due to the adjustment being too close. This helps to improve the user's parking efficiency and thus improve the user's parking experience.

[0129] S340, based on the second parking trajectory, controls the vehicle to park in the target parking space. The second parking trajectory is the trajectory of the vehicle as it parks in the second parking space.

[0130] In this embodiment, when the vehicle fails to park in the first parking position, an updated second parking position can be obtained based on obstacle information. Since the distance between the first and second parking positions is greater than or equal to a first preset distance, this avoids the vehicle failing to park again due to adjusting the distance too small, thus improving the success rate of parking the vehicle in the target parking space and enhancing the user's parking experience and the vehicle's intelligence.

[0131] Figure 10 shows a schematic block diagram of a parking device 1000 provided in an embodiment of this application. The device 1000 includes: an acquisition unit 1010, configured to acquire a first parking trajectory, which is the trajectory of a vehicle parking into a first parking position in a target parking space; the acquisition unit 1010 is further configured to acquire information about a first obstacle when parking into the target parking space along the first parking trajectory fails; the acquisition unit 1010 is further configured to acquire a second parking position in the target parking space based on the information about the first obstacle, wherein the distance between the second parking position and the first parking position is greater than or equal to a first preset distance; and a control unit 1020, configured to control the vehicle to park into the target parking space based on the second parking trajectory, which is the trajectory of the vehicle parking into the second parking position.

[0132] Optionally, the distance between the second parking position and the first parking position in a first direction is greater than or equal to a first preset distance, where the first direction is the direction away from the first obstacle.

[0133] Optionally, the device 1000 further includes a first determining unit, which is used to determine that no user adjustment of parking position is detected within a preset time period before the acquiring unit acquires the second parking position posture in the target parking space.

[0134] Optionally, the device 1000 further includes a second determining unit and an acquisition unit 1010, configured to acquire multiple parking poses based on information about the first obstacle; the second determining unit is configured to determine the pose closest to the first parking pose among the multiple parking poses as the second parking pose.

[0135] Optionally, the acquisition unit 1010 is used to: acquire a second parking position based on the information of the first obstacle and the user's driving habits.

[0136] Optionally, the control unit 1020 is used to prompt the user to adjust the parking position when the vehicle fails to park in the target parking space along the first parking trajectory; the acquisition unit is used to acquire the second parking position based on the user's first input, wherein the first input is the user's input to adjust the parking position from the first parking position to the second parking position.

[0137] Optionally, the acquisition unit 1010 is used to acquire a second user input before acquiring the second parking position, the second input being the user's input to adjust the parking position from the first parking position to the third parking position via the display device; the control unit is used to control the prompting device to prompt the user to adjust the parking position when the distance between the first parking position and the third parking position is less than or equal to a second preset distance.

[0138] Optionally, the device 1000 further includes a third determining unit, which is used to determine multiple parking positions in the target parking space and plan multiple parking trajectories based on the current position of the vehicle, environmental information around the vehicle, and target parking space information, wherein the multiple parking trajectories correspond one-to-one with the multiple parking positions; a control unit, which is used to control the prompting device to select one from the multiple parking positions; the third determining unit is also used to determine a first parking trajectory from the multiple parking trajectories in response to the acquisition unit acquiring a third input from the user, wherein the third input instructs the user to select the first parking position.

[0139] It should be understood that the division of units in the above device is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the device can be implemented by a processor calling software; for example, the device includes a processor connected to memory, which stores instructions. The processor calls the instructions stored in memory to implement any of the above methods or to implement the functions of each unit in the device. The processor can be, for example, a general-purpose processor, such as a CPU or microprocessor, and the memory can be internal or external to the device. Alternatively, the units in the device can be implemented as hardware circuits. The functions of some or all units can be implemented through the design of the hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all units are implemented through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a PLD, such as an FPGA, which can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files, thereby implementing the functions of some or all units. All units of the above devices can be implemented entirely through processor calling software, or entirely through hardware circuits, or partially through processor calling software with the remaining parts implemented through hardware circuits.

[0140] In this application embodiment, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a CPU, microprocessor, GPU, or DSP. In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented as an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement the functions of some or all of the above units. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, or DPU.

[0141] As can be seen, each unit in the above device can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0142] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together as a System-on-a-Chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the device. The at least one processor may be of different types, such as CPU and FPGA, CPU and AI processor, CPU and GPU, etc.

[0143] This application also provides an apparatus comprising a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to cause the apparatus to perform the methods or steps described in the above embodiments.

[0144] Alternatively, if the device is located in a vehicle, the aforementioned processing unit may be the processor 121-12n shown in FIG1.

[0145] This application also provides a parking system, which may include the vehicle and mobile terminal described above, or may include the parking device 1000 described above.

[0146] This application also provides a vehicle that may include the parking device 1000 described above.

[0147] This application also provides a computer program product, which includes computer program code that, when run on a computer, causes the computer to perform the methods described in the above embodiments.

[0148] This application also provides a computer-readable medium storing program code that, when run on a computer, causes the computer to perform the methods described in the above embodiments.

[0149] This application also provides a chip, which includes circuitry for performing the methods described in the above embodiments.

[0150] In implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software. The method disclosed in the embodiments of this application can be directly implemented by a hardware processor, or by a combination of hardware and software modules within the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, power-on erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0151] It should be understood that in the embodiments of this application, the memory may include read-only memory and random access memory, and provides instructions and data to the processor.

[0152] It should also be understood that, in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0153] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0154] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0155] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0156] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0157] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0158] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0159] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be covered. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A parking method, characterized in that, include: Obtain the first parking trajectory, which is the trajectory of the vehicle parking into the first parking space in the target parking space; When failing to park in the target parking space along the first parking trajectory, information about the first obstacle is obtained; Based on the information of the first obstacle, obtain the second parking position pose in the target parking space, wherein the distance between the second parking position pose and the first parking position pose is greater than or equal to a first preset distance; Based on the second parking trajectory, the vehicle is controlled to park in the target parking space. The second parking trajectory is the trajectory of the vehicle as it parks in the second parking space.

2. The method according to claim 1, characterized in that, The distance between the second parking position and the first parking position in a first direction is greater than or equal to the first preset distance, where the first direction is the direction away from the first obstacle.

3. The method according to claim 1 or 2, characterized in that, Before obtaining the second parking space pose in the target parking space based on the information of the first obstacle, the method further includes: It was determined that no user operation to adjust the parking position was detected within the preset time period.

4. The method according to any one of claims 1 to 3, characterized in that, The step of obtaining the second parking space pose in the target parking space based on the information of the first obstacle includes: Based on the information of the first obstacle, multiple parking positions are obtained; The parking pose closest to the first parking pose among the multiple parking poses is determined as the second parking pose.

5. The method according to any one of claims 1 to 4, characterized in that, The step of obtaining the second parking space pose in the target parking space based on the information of the first obstacle includes: The second parking position is obtained based on the information of the first obstacle and the user's driving habits.

6. The method according to claim 1 or 2, characterized in that, The step of obtaining the second parking space pose in the target parking space based on the information of the first obstacle includes: When the vehicle fails to park in the target parking space along the first parking trajectory, the control prompting device prompts the user to adjust the parking position. Based on the user's first input, the second parking position is obtained, where the first input is the user's input to adjust the parking position from the first parking position to the second parking position.

7. The method according to claim 6, characterized in that, Before obtaining the second parking position based on the user's first input, the method further includes: Obtain the user's second input, which is the user's input to adjust the parking position from the first parking position to the third parking position through the display device; When the distance between the first parking position and the third parking position is less than or equal to a second preset distance, the prompting device is controlled to prompt the user to adjust the parking position.

8. The method according to any one of claims 1 to 7, characterized in that, The acquisition of the first parking trajectory includes: Based on the current position of the vehicle, the environmental information around the vehicle, and the target parking space information, multiple parking positions in the target parking space are determined and multiple parking trajectories are planned, with each parking trajectory corresponding to one of the multiple parking positions. The control prompting device selects one of the plurality of parking positions; In response to receiving a third input from the user, a first parking trajectory is determined from multiple parking trajectories, wherein the third input instructs the user to select the first parking position.

9. A parking device, characterized in that, include: The acquisition unit is used to acquire the first parking trajectory, which is the trajectory of the vehicle parking into the first parking space in the target parking space. The acquisition unit is further configured to acquire information about the first obstacle when the vehicle fails to park in the target parking space along the first parking trajectory. The acquisition unit is further configured to acquire a second parking position pose in the target parking space based on the information of the first obstacle, wherein the distance between the second parking position pose and the first parking position pose is greater than or equal to a first preset distance. The control unit is used to control the vehicle to park in the target parking space according to the second parking trajectory, wherein the second parking trajectory is the trajectory of the vehicle to park in the second parking space.

10. The apparatus according to claim 9, characterized in that, The distance between the second parking position and the first parking position in a first direction is greater than or equal to the first preset distance, where the first direction is the direction away from the first obstacle.

11. The apparatus according to claim 9 or 10, characterized in that, The device further includes a first determining unit. The first determining unit is configured to determine, before the acquiring unit acquires the second parking position posture in the target parking space, that no user operation to adjust the parking position posture has been detected within a preset time period.

12. The apparatus according to any one of claims 9 to 11, characterized in that, The device also includes a second determining unit. The acquisition unit is used to acquire multiple parking positions based on the information of the first obstacle; The second determining unit is used to determine the parking pose that is closest to the first parking pose among the plurality of parking poses as the second parking pose.

13. The apparatus according to any one of claims 9 to 12, characterized in that, The acquisition unit is used for: The second parking position is obtained based on the information of the first obstacle and the user's driving habits.

14. The apparatus according to claim 9 or 10, characterized in that, The control unit is used to prompt the user to adjust the parking position when the vehicle fails to park in the target parking space along the first parking trajectory. The acquisition unit is used to acquire the second parking position posture based on the user's first input, wherein the first input is the user's input to adjust the parking position posture from the first parking position posture to the second parking position posture.

15. The apparatus according to claim 14, characterized in that, The acquisition unit is used to acquire a second user input before acquiring the second parking position posture. The second input is the user's input that adjusts the parking position posture from the first parking position posture to the third parking position posture through the display device. The control unit is configured to control the prompting device to prompt the user to adjust the parking position when the distance between the first parking position and the third parking position is less than or equal to a second preset distance.

16. The apparatus according to any one of claims 9 to 15, characterized in that, The device also includes a third determining unit. The third determining unit is used to determine multiple parking poses in the target parking space and plan multiple parking trajectories based on the current pose of the vehicle, the environmental information around the vehicle and the target parking space information, wherein the multiple parking trajectories correspond one-to-one with the multiple parking poses. The control unit is used to control the prompting device to select one of the plurality of parking positions; The third determining unit is further configured to determine the first parking trajectory from multiple parking trajectories in response to the acquisition unit acquiring a third input from the user, wherein the third input instructs the user to select the first parking position.

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

18. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 9 to 17.

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

20. A computer program product, characterized in that, The computer program product includes computer program code that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 8.

21. 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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