Control method for automatically parking a vehicle out of a parking space

Abstract

The application relates to a control method for automatically parking out a vehicle from a parking space, the method comprising: detecting environmental information around the vehicle; determining whether a vehicle automatic parking-out condition is met according to the environmental information; and when it is determined that the vehicle automatic parking-out condition is met, automatically moving the vehicle out of the parking space in a parking-out direction and then automatically opening a door / unlocking the vehicle. The application also relates to a computer program product, a parking controller and an electronic device.

Description

Technical Field

[0001] This application relates to the field of intelligent parking, and more specifically, to a control method, computer program product, and electronic device for automatically parking a vehicle from a parking space. Background Technology

[0002] Existing parking systems (such as remote parking) typically require drivers to manually control the vehicle to move into or out of parking spaces using a mobile phone or key. However, these existing systems require manual control, making them cumbersome to operate. Furthermore, existing parking systems cannot automatically detect changes in the surrounding environment. For example, if there are no cars around when parking but another car is parked very close when retrieving the vehicle, the door may not be able to open due to insufficient space, thus impacting the user experience. Summary of the Invention

[0003] The inventors of this application recognized that if a parking system could automatically detect the environment and possess intelligent decision-making capabilities, it would greatly reduce the driver's burden and improve the user experience. For example, a parking system that automatically senses the driver's approach, automatically activates the function, and can automatically select a suitable parking (moving) direction based on environmental information, and automatically open the car door / unlock the vehicle, can significantly improve the user experience and make the parking process smoother and more convenient.

[0004] According to one aspect of this application, a control method for automatically parking a vehicle from a parking space is provided. The method includes: detecting environmental information around the vehicle; determining, based on the environmental information, whether conditions for automatic parking of the vehicle are met; and, when the conditions for automatic parking of the vehicle are met, automatically moving the vehicle out of the parking space in a suitable parking direction to greet the driver. Subsequently, the vehicle door can be automatically opened / unlocked to further enhance the user experience.

[0005] As a supplement or alternative to the above solution, in the above method, detecting the environmental information around the vehicle includes: detecting the lateral distance between the vehicle and lateral obstacles.

[0006] As a supplement or replacement to the above solution, in the above method, the automatic parking conditions include the driver being unable to open the car door, and determining that the automatic parking conditions are met based on the environmental information includes: when the lateral distance is less than a preset distance threshold, determining that the driver is unable to open the car door.

[0007] As a supplement or replacement to the above scheme, in the above method, it is determined whether to trigger the detection of environmental information around the vehicle based on the interaction state between the vehicle and the driver (including location information, such as intention to approach).

[0008] As a supplement or replacement to the above solution, in the above method, when the driver is detected to have pressed the vehicle unlock button or entered the vehicle's preset range area, the side perception system is triggered to detect environmental information.

[0009] As a supplement or replacement to the above solution, the automatic parking condition of the vehicle in the above method also includes determining the driver's behavior, and the method further includes: sending an automatic parking confirmation or prompt message to the driver; and determining that the automatic parking condition of the vehicle is met when it is detected that the driver performs a specific behavior after receiving the message. This helps to prevent misoperation (such as the driver just passing by without intending to drive).

[0010] As a supplement or alternative to the above scheme, in the above method, the appropriate parking exit direction is determined based on one or more of the following: driver habits, driver approach direction, routine behavior, road markings, and parking lot exit path.

[0011] As a supplement or replacement to the above solution, in the above method, the driver's habits and routine behaviors are recorded and recalled through the vehicle's memory function, the road markings include parking space boundary lines and driving direction indicator arrows, and the parking lot exit path is planned based on the vehicle's map data or the driver's approach direction, etc.

[0012] As a supplement or replacement to the above solution, in the above method, the memory function records the driver's exit habits and location information in a specific parking space or scenario, and when the vehicle is in the specific parking space or scenario, it calls the recorded data to select the parking direction to automatically move the vehicle out of the parking space.

[0013] As a supplement or alternative to the above solution, in the above method, the driving direction indicator arrow is identified by a visual sensor, and the parking direction is selected to follow the driving direction indicator arrow so as to automatically move the vehicle out of the parking space.

[0014] As a supplement or replacement to the above solution, in the above method, the parking exit direction is determined according to the planned parking lot exit path so as to automatically move the vehicle out of the parking space.

[0015] As a supplement or alternative to the above solution, in the above method, when the parking direction cannot be determined, the vehicle is moved forward a certain distance to open the door.

[0016] As a supplement or replacement to the above solution, in the above method, when it is detected that the driver performs a specific action after receiving the message, the vehicle is moved out of the parking space in a first preset direction; and when it is not detected that the driver performs a specific action after receiving the message, the vehicle is not started and the automatic parking function is not activated.

[0017] As a supplement or replacement to the above solution, in the above method, in the parallel parking space scenario, the direction away from the lateral obstacle is taken as the parking direction.

[0018] According to another aspect of this application, a computer program product is provided, including a computer program that, when executed by a processor, implements the method described above.

[0019] According to another aspect of this application, a parking controller is provided, the parking controller including a processor, wherein the processor is configured to perform the method described above.

[0020] According to another aspect of this application, an electronic device (such as a domain controller or electronic control unit ECU) is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the method described above.

[0021] The automatic parking control scheme of this application can automatically detect environmental information and make intelligent decisions without driver intervention, achieving a more convenient and intelligent parking experience. Furthermore, the vehicle doors automatically open or unlock after the vehicle is moved, facilitating driver entry and improving overall convenience. Moreover, the automatic parking control scheme of this application intelligently selects the appropriate parking direction, adapting to various scenarios such as parallel parking and cross parking, meeting different parking needs. In one or more embodiments, the automatic parking control scheme of this application combines multiple conditions (such as lateral distance, driver behavior, etc.) to determine whether the automatic parking conditions are met, avoiding false activation and improving safety. Attached Figure Description

[0022] The above and other objects and advantages of this application will become more fully clear from the following detailed description taken in conjunction with the accompanying drawings, wherein the same or similar elements are indicated by the same reference numerals.

[0023] Figure 1 A flowchart illustrating a control method for automatically parking a vehicle from a parking space, according to an embodiment of this application, is shown.

[0024] Figure 2 A schematic diagram illustrating the selection of parking direction based on road markings and / or environmental information according to an embodiment of this application is shown.

[0025] Figure 3A schematic diagram is shown illustrating an embodiment of this application in which a vehicle defaults to moving forward when it is unable to determine the parking direction.

[0026] Figure 4 A schematic diagram illustrating the parking direction of a vehicle in a parallel parking space scenario, according to an embodiment of this application, is shown.

[0027] Figure 5 A schematic diagram illustrating an embodiment of the present application, showing the automatic opening of a vehicle door; and

[0028] Figure 6 A schematic diagram of the structure of an electronic device according to an embodiment of this application is shown. Detailed Implementation

[0029] In the following, an automatic parking control scheme according to various exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0030] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples, without contradiction.

[0031] Figure 1 A flowchart illustrating a control method 1000 for automatically parking a vehicle from a parking space, according to an embodiment of this application, is shown. Figure 1 As shown, the method 1000 includes the following steps:

[0032] In step S110, environmental information around the vehicle is detected;

[0033] In step S120, it is determined whether the conditions for automatic vehicle parking are met based on the environmental information; and

[0034] In step S130, when it is determined that the automatic parking conditions of the vehicle are met, the vehicle is automatically moved out of the parking space in the parking direction, and then the door is automatically opened / the vehicle is unlocked.

[0035] In the context of this application, the term "environmental information surrounding the vehicle" refers to various information about the vehicle's surroundings, including but not limited to lateral distances between lateral obstacles and the vehicle, road markings, traffic flow direction, and parking lot exit routes. This environmental information can be used to determine the vehicle's environmental state and is one of the bases for deciding whether automatic parking conditions are met.

[0036] The term "automatic parking exit conditions" refers to a set of preset conditions that, when met, will cause the vehicle to automatically perform a parking exit operation. In one embodiment, automatic parking exit conditions include the driver being unable to open the vehicle door (e.g., the lateral distance is less than a preset distance threshold). In another embodiment, automatic parking exit conditions also include driver confirmation (such as pressing a key or mobile phone). Meeting the automatic parking exit conditions is a key factor in triggering the automatic parking exit function.

[0037] In the context of this application, the term "parking exit direction" refers to the direction taken by the vehicle when it moves out of the parking space. In one or more embodiments, the parking exit direction can be determined based on various factors, such as driver habits, driver approach direction, routine behavior, road markings, parking lot exit path, etc. In one embodiment, when the direction cannot be determined based on these factors, the vehicle may default to moving forward a certain distance. The term "automatic exit" refers to the process of the vehicle automatically moving out of the parking space when the automatic parking exit conditions are met. This process is controlled and executed by the vehicle's control system (e.g., electronic control unit ECU) without manual operation by the driver. It includes actions such as vehicle movement and direction adjustment to ensure that the vehicle can smoothly leave the parking space. The term "automatic door opening / vehicle unlocking" refers to the function of automatically opening the doors or automatically unlocking the vehicle after the vehicle has automatically moved out of the parking space. This function facilitates the driver's entry into the vehicle and improves the user experience. In one or more embodiments, "automatic door opening / vehicle unlocking" is performed after the vehicle has completed the exit action, ensuring that the driver can safely and conveniently enter the vehicle.

[0038] In step S110, environmental information around the vehicle is detected. In one embodiment, step S110 may include detecting the lateral distance between a lateral obstacle and the vehicle. Here, a "lateral obstacle" refers to an obstacle located on the side of the vehicle, such as other vehicles, buildings, high curbs, walls, etc. The presence of a lateral obstacle may affect the opening of the vehicle door. Detecting the distance between the lateral obstacle and the vehicle can be used to determine whether the automatic parking conditions are met.

[0039] although Figure 1As not shown, whether to trigger the detection of environmental information around the vehicle can be determined based on the interaction state between the vehicle and the driver. In other words, step S110 can be executed based on the interaction state between the vehicle and the driver. The term "interaction state" refers to the interaction state between the driver and the vehicle, including but not limited to the following situations: (1) Location-based interaction: The driver enters the preset range area of ​​the vehicle (such as within a few meters), and the vehicle detects the driver's position through sensors (such as cameras, radar, etc.) or other positioning technologies; or the driver obviously approaches the vehicle, intending to enter or operate the vehicle; (2) Operation-based interaction: The driver unlocks the vehicle through a key or a button on a mobile phone; (3) Communication-based interaction: The driver sends instructions (such as remote start, unlock, etc.) through a mobile application or other remote devices, or the vehicle system sends a message requesting the driver to perform a specific action, etc.

[0040] By detecting these interactive states (e.g., detecting whether the driver performs a specific action according to the messages sent by the vehicle system), it can be determined whether the driver intends to enter the vehicle, thereby deciding whether to perform environmental information detection, such as by activating the side perception system.

[0041] In one embodiment, when the driver presses the vehicle unlock button on the key or mobile phone, the vehicle's control system (such as an electronic control unit, ECU, or domain controller) receives this signal. The system determines that this is a clear driver intention, indicating that the driver may be about to enter the vehicle. Therefore, the system triggers the side perception system to begin detecting environmental information around the vehicle (such as the distance to lateral obstacles, road markings, etc.).

[0042] In another embodiment, the vehicle detects that the driver has entered a preset detection area (such as within a few meters of the vehicle) using sensors (such as cameras, radar, ultrasonic sensors, etc.) or positioning and ranging technologies such as Bluetooth Digital and UWB. The vehicle's control system (such as an electronic control unit (ECU) or domain controller) determines that the driver may be approaching the vehicle, thereby triggering the side perception system to detect environmental information.

[0043] In one embodiment, the detected environmental information may include, but is not limited to, the following:

[0044] (1) Lateral obstacle distance: Detects the distance between the vehicle and lateral obstacles (such as other vehicles, buildings, high curbs, walls, etc.);

[0045] (2) Road markings: Identifying parking space boundary lines, driving direction indicator arrows, etc.; and

[0046] (3) Other environmental information: such as traffic flow direction, parking lot exit route, etc.

[0047] If the detected environmental information indicates that the conditions for automatic vehicle parking are met, such as the driver being unable to open the car door (lateral distance less than a preset distance threshold), the function of automatically moving the vehicle out of the parking space can be activated in subsequent steps. For example, the vehicle selects a suitable parking direction based on the environmental information and automatically moves out of the parking space. After moving out, the vehicle will automatically open or unlock the door to facilitate the driver's entry.

[0048] By triggering the detection of environmental information based on the interaction between the vehicle and the driver, the vehicle's control system (such as the electronic control unit ECU or domain controller) can more intelligently determine the driver's intentions and avoid problems such as safety hazards and poor user experience caused by accidental activation.

[0049] In step S120, it is determined whether the conditions for automatic vehicle parking are met based on the environmental information surrounding the vehicle. In one embodiment, the conditions for automatic vehicle parking include the driver being unable to open the vehicle door, and step S120 includes: determining that the driver cannot open the vehicle door when the lateral distance between the lateral obstacle and the vehicle is less than a preset distance threshold. In this embodiment, the "preset distance threshold" refers to a pre-set distance threshold used to determine whether the distance between the lateral obstacle and the vehicle is sufficient for the driver to open the vehicle door. If the lateral distance is less than this preset value, it can be determined that the driver cannot open the vehicle door, thereby triggering the automatic parking function in the subsequent step S130.

[0050] In one embodiment, the automatic parking condition further includes determining the driver's behavior, and the method 1000 further includes: sending an automatic parking confirmation or prompt message to the driver; and determining that the automatic parking condition is met when it is detected that the driver performs a specific behavior after receiving the message.

[0051] In this embodiment, "driver behavior determination" refers to confirming whether the driver intends to activate the automatic parking function through specific interactive behaviors (such as pressing a button on a key or mobile phone, pausing in place for a few seconds, etc.). This ensures that the system will not accidentally activate the automatic parking function when the driver has no intention of doing so, improving the system's safety and reliability.

[0052] In the context of this application, the term "automatic parking confirmation or prompt message" refers to a message sent by a vehicle to the driver to confirm or prompt the driver that the automatic parking function is about to be activated. In one or more embodiments, the message may include text, sound, or visual cues informing the driver that the system has detected a specific condition and asking whether to confirm activation of the automatic parking function. In one or more embodiments, the message may be sent to the driver's mobile phone, car key, or other remote device to remind the driver.

[0053] In this embodiment, "specific behavior" refers to a specific action that the driver needs to perform after receiving an automatic parking confirmation or prompt message, such as standing still for a few seconds or pressing a button on the key or mobile phone again. By performing the specific behavior, the driver clearly indicates their intention to activate the automatic parking function, and the system confirms that the automatic parking conditions are met.

[0054] For example, the system detects that the driver presses the vehicle unlock button or enters a preset area around the vehicle. The system then sends an automatic parking confirmation or prompt message to the driver. Upon receiving the message, the driver performs a specific action (such as pausing for a few seconds, pressing the button on the key or phone again). The system detects this specific action and confirms that the automatic parking conditions are met. Finally, the system automatically activates the parking function, the vehicle moves out of the parking space in the appropriate parking direction, and then automatically unlocks the door or unlocks the vehicle. By combining the driver's action confirmation with the automatic parking confirmation message, the system can more accurately determine the driver's intention, avoid accidental activation, and ensure that the automatic parking function is executed only when the driver has a clear intention.

[0055] In step S130, when it is determined that the automatic parking conditions are met, the vehicle is automatically moved out of the parking space according to the parking direction, and then the door is automatically opened / the vehicle is unlocked. The appropriate parking direction can be determined based on a variety of factors, such as driver habits, driver approach direction, routine behavior, road markings, and one or more of the parking lot exit paths.

[0056] In one embodiment, driver habits and routine behaviors are recorded and recalled using the vehicle's memory function. The vehicle can record the driver's exit habits and location information in specific parking spaces or scenarios using its built-in memory function. For example, if the driver always turns right when exiting a particular parking space, or if the vehicle's location indicates a habitual or fixed parking space, the system records these habits and location information. When the vehicle is in a similar parking scenario, the system recalls the previously recorded data, predicts, and selects the exit direction the driver might expect.

[0057] In one embodiment, road markings include parking space boundary lines and directional arrows. For example, parking space boundary lines can be identified by a camera or other sensors to determine the position and orientation of a vehicle within the parking space. As another example, directional arrows can be identified by a vision sensor to ensure that the vehicle's exit direction conforms to traffic rules and parking lot driving instructions.

[0058] Figure 2 A schematic diagram illustrating the selection of parking direction based on road markings according to one embodiment of this application is shown. Figure 2As shown, vehicle 230 is about to automatically move out of the parking space. There are two lanes perpendicular to the vehicle, indicated by road signs 210 (left-hand drive sign) and 220 (right-hand drive sign). Since road sign 220 is closer to vehicle 230, the parking direction is selected as right-hand drive.

[0059] In one embodiment, the parking lot exit route is planned based on map data acquired from inside the vehicle or externally via a network / other available communication method. For example, the map data inside the vehicle includes the layout of the parking lot and the location of the exit. The system uses this data to plan the optimal route from the current location to the exit. Based on the map data, the system determines the driving direction after moving out of the parking space to ensure that the vehicle can smoothly drive to the exit.

[0060] In this way, the control system can comprehensively consider factors such as driver habits, driver approach direction, routine behavior, road markings, and parking lot exit routes to select the most suitable exit direction. In one embodiment, the appropriate exit direction can be determined according to the priority of each factor. For example, driver habits are given priority, followed by road markings, and finally the parking lot exit route. Thus, even if some of these factors cannot provide a clear direction choice (such as the driver not having clear habits or unclear road markings), the system can still make intelligent decisions based on the available information.

[0061] By combining driver habits, approach direction, routine behavior, road markings, and parking lot exit routes, the system can more intelligently select the exit direction, reducing the driver's workload and improving parking convenience and efficiency.

[0062] In one or more embodiments, for example, refer to Figure 3 When the parking direction cannot be determined based on factors such as driver habits, the system will default to moving the vehicle forward a certain distance to open the door. In other words, when the parking direction cannot be determined through conventional methods (such as driver habits, driver approach direction, routine behavior, road markings, parking lot exit paths), the system will use the default behavior of moving the vehicle forward a certain distance to ensure that the door can be opened.

[0063] It should be noted that "moving forward a certain distance" means the vehicle will move forward a preset distance by default. This distance is to ensure sufficient space between the vehicle and any obstacles in front, allowing the driver's side door to open smoothly. This ensures that even if the system cannot make a better parking direction decision, the driver can still enter the vehicle smoothly.

[0064] In one embodiment, the parking direction can also be determined based on whether the driver performs a specific action after receiving the message. For example, the system detects that the driver has entered a preset area of ​​the vehicle and then sends an automatic parking confirmation or prompt message to the driver. Next, the system detects whether the driver performs a specific action after receiving the message (e.g., continuing to walk forward and pressing the unlock button on a key or mobile phone). If so, the vehicle moves out of the parking space in a first preset direction (e.g., to the right); otherwise, the vehicle does not activate the automatic parking function. In this way, the system can determine the exit direction based on the driver's behavior to adapt to different driving intentions and scenarios. Moreover, the above embodiment, by determining the exit direction based on the driver's behavior, improves the user experience and makes the parking process more intelligent. Finally, explicit behavioral confirmation can avoid misoperation and ensure the safety of the exit process.

[0065] In one embodiment, the parking direction can also be determined based on the parking space scenario and the position of lateral obstacles. For example, refer to... Figure 4 In parallel parking scenarios, the direction away from lateral obstacles is taken as the appropriate parking direction.

[0066] Figure 5 A schematic diagram illustrating an automatic vehicle door opening mechanism according to one embodiment of this application is shown. In one embodiment, after the vehicle completes its automatic parking (moving out of the parking space) function, the system automatically opens the driver's side door to facilitate driver entry. The door opens at a preset angle to ensure easy access for the driver. This function can be implemented, for example, through a door control module that automatically performs the opening action after the vehicle moves out of the parking space.

[0067] In one or more embodiments, during the automatic parking process, the system controls the vehicle's lights to indicate the activation status of the function and to provide warnings to passengers or road users. For example, the vehicle's indicator lights may flash or remain illuminated to indicate that the automatic parking function is activated. Alternatively, before the vehicle begins to move out of the parking space, the system may alert nearby pedestrians and vehicles with light or sound signals. Furthermore, the system may project the vehicle's expected trajectory onto the ground using projection lights to help the driver and surrounding pedestrians predict the vehicle's path. Thus, the user experience and safety are significantly improved through automatic door opening and / or lighting control functions.

[0068] In one embodiment, the control method 1000 for automatically parking a vehicle from a parking space further includes: if it is determined in step S120, based on environmental information around the vehicle, that the conditions for automatic parking of the vehicle are not met, then the vehicle's sensing functions or sensors are turned off, and the system waits for a subsequent request from the driver (e.g., an ignition request).

[0069] The control method 1000 for automatically parking a vehicle from a parking space according to embodiments of this application can be combined with various autonomous driving or assisted driving functions (such as parking assistance functions).

[0070] Those skilled in the art will readily understand that the control method 1000 for automatically parking a vehicle from a parking space provided in one or more embodiments of this application can be implemented by a computer program. For example, the computer program is included in a computer program product, and when executed by a processor, it implements the control method 1000 for automatically parking a vehicle from a parking space according to one or more embodiments of this application. As another example, when a computer-readable storage medium (e.g., a USB flash drive) storing the computer program is connected to a computer, running the computer program executes the control method 1000 for automatically parking a vehicle from a parking space according to one or more embodiments of this application.

[0071] According to one aspect of this application, the control method 1000 for automatically parking a vehicle from a parking space provided in this application can be implemented in a parking controller. For example, the parking controller may include a processor configured to perform the control method 1000 for automatically parking a vehicle from a parking space according to one or more embodiments of this application.

[0072] refer to Figure 6 It shows a structural schematic diagram of an electronic device 6000 according to an embodiment of this application. For example... Figure 6 As shown, the electronic device 6000 includes a memory 610 and a processor 620, on which a computer program is stored. In one embodiment, the processor 620 executes the computer program to implement a control method for automatically parking a vehicle from a parking space according to one or more embodiments of this application. In one or more embodiments, the electronic device may be a domain controller or an electronic control unit (ECU).

[0073] In summary, the automatic parking control scheme of this application can automatically detect environmental information and make intelligent decisions without requiring manual intervention from the driver, achieving a more convenient and intelligent parking experience. Furthermore, the vehicle doors automatically open or unlock after the vehicle is moved, facilitating driver entry and improving overall convenience. Moreover, the automatic parking control scheme of this application intelligently selects the appropriate parking direction, adapting to various scenarios such as parallel parking and cross parking, meeting different parking needs. In one or more embodiments, the automatic parking control scheme of this application combines multiple conditions (such as lateral distance, driver behavior, etc.) to determine whether the automatic parking conditions are met, avoiding false activation and improving safety.

[0074] The above examples primarily illustrate the automatic parking control scheme of embodiments of this application. Although only some embodiments of this application have been described, those skilled in the art should understand that this application can be implemented in many other forms without departing from its spirit and scope. Therefore, the examples and embodiments shown are considered illustrative rather than restrictive, and various modifications and substitutions may be made without departing from the spirit and scope of this application as defined in the claims.

Claims

1. A control method for automatically parking a vehicle from a parking space, characterized in that, The method includes: Detect environmental information around the vehicle; Determine whether the conditions for automatic vehicle parking are met based on the environmental information; and When the conditions for automatic vehicle parking are met, the vehicle is automatically moved out of the parking space in the parking direction, and then the door is automatically opened / the vehicle is unlocked.

2. The method as described in claim 1, wherein, Detecting environmental information around the vehicle includes: Detect the lateral distance between the lateral obstacle and the vehicle.

3. The method as described in claim 2, wherein, The conditions for automatic vehicle parking include the driver being unable to open the vehicle door, and the determination based on the environmental information that the conditions for automatic vehicle parking are met includes: When the lateral distance is less than a preset distance threshold, it is determined that the driver cannot open the vehicle door.

4. The method of claim 1, wherein, Whether to trigger the detection of environmental information around the vehicle is determined based on the interaction state between the vehicle and the driver.

5. The method of claim 4, wherein, When the system detects that the driver has pressed the vehicle unlock button or entered a preset area of ​​the vehicle, it triggers the side perception system to detect environmental information.

6. The method of claim 3, wherein, The automatic parking conditions for the vehicle also include determining the driver's behavior, and the method further includes: Send an automatic parking confirmation or prompt message to the driver; and When it is detected that the driver performs a specific action after receiving the message, it is determined that the conditions for the vehicle to automatically park are met.

7. The method of claim 1, wherein, The parking exit direction is determined based on one or more of the following: driver habits, driver approach direction, driver routine behavior, road markings, and parking lot exit path.

8. The method of claim 7, wherein, The driver's habits and routine behaviors are recorded and recalled through the vehicle's memory function. The road markings include parking space boundary lines and driving direction indicator arrows, and the parking lot exit path is planned based on the vehicle's map data.

9. The method of claim 8, wherein, The memory function records the driver's parking habits and location information in a specific parking space or scenario, and when the vehicle is in the specific parking space or scenario, it calls the recorded data to select the parking direction to automatically move the vehicle out of the parking space.

10. The method of claim 8, wherein, The driving direction indicator arrow is identified by a vision sensor, and the parking exit direction is selected to follow the driving direction indicator arrow so as to automatically move the vehicle out of the parking space.

11. The method of claim 8, wherein, The parking direction is determined based on the planned parking lot exit route so that the vehicle can be automatically moved out of the parking space.

12. The method of claim 7 or 8, wherein, If the direction of parking cannot be determined, move the vehicle forward a certain distance to open the door.

13. The method of claim 6, wherein, When the system detects that the driver has performed a specific action after receiving the message, the vehicle is moved out of the parking space in a first preset direction; when the system does not detect that the driver has performed a specific action after receiving the message, the vehicle does not activate the automatic parking function.

14. The method of claim 2, wherein, In the parallel parking scenario, the direction away from the lateral obstacle is taken as the parking exit direction.

15. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 14.

16. A parking controller, characterized in that, The parking controller includes a processor, wherein the processor is configured to perform the method as described in any one of claims 1 to 14.

17. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the method as described in any one of claims 1 to 14.

18. The electronic device of claim 17, wherein, The electronic device is a domain controller or an electronic control unit (ECU).

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