Parking method, vehicle, and electronic device

Abstract

The application discloses a parking method, a vehicle and an electronic device. The method comprises the following steps: acquiring first environment information and pose information of a target vehicle; the target vehicle is connected with a trailer structure; determining an initial parking path of the target vehicle according to the first environment information and the pose information; adjusting the initial parking path in a parking process of the target vehicle; and determining target parameters for controlling parking of the target vehicle according to an adjustment result. The technical scheme can provide an accurate parking path for the vehicle, effectively avoid potential risks in the parking process of the vehicle, and improve the parking safety of the vehicle with the trailer.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to parking methods, vehicles, and electronic devices. Background Technology

[0002] Currently, with the increasing popularity of self-driving travel and outdoor life, the scenario of passenger cars towing trailers (such as RVs and cargo beds) is becoming more and more common. However, the articulated combination of vehicles and trailers has extremely complex kinematic characteristics due to its unique non-rigid connection.

[0003] Existing driver assistance systems and autonomous driving algorithms struggle to handle the unique dynamic behavior of non-rigidly connected trailers. Parking with a vehicle connected to a trailer presents a significant blind spot, making it difficult to park accurately and increasing the risk of collisions, thus posing safety hazards. Summary of the Invention

[0004] The purpose of this application is to provide a parking method, vehicle, and electronic equipment that can provide an accurate parking path for the vehicle, while effectively avoiding potential risks when parking the vehicle and improving the parking safety of vehicles with trailers.

[0005] To achieve the above objectives, embodiments of this application provide a parking method, including: Acquire first environmental information and acquire the pose information of the target vehicle; the target vehicle is connected to a trailer structure; Based on the first environmental information and the pose information, the initial parking path of the target vehicle is determined; During the parking process of the target vehicle, the initial parking path is adjusted; Based on the adjustment results, target parameters for controlling the parking of the target vehicle are determined.

[0006] In one embodiment, before determining the initial parking path of the target vehicle based on the first environmental information and the pose information, the following steps are included: Determine whether parking conditions are met based on the first environmental information; The parking conditions include at least one of the following: There is at least one available parking space; The available parking spaces meet the size requirements of the target vehicle; The first environmental information supports the target vehicle parking in the available parking space.

[0007] In one embodiment, determining the initial parking path of the target vehicle based on the first environmental information and the pose information includes: Obtain the parking space information where the target vehicle is to be parked; The initial parking path of the vehicle is determined based on the parking space information, the first environmental information, the position and pose information of the target vehicle, and the trailer parameters of the trailer connected to the target vehicle.

[0008] In one embodiment, adjusting the initial parking path includes: If a collision risk is detected in the initial parking path, the current second environmental information is obtained, and the initial parking path is adjusted based on the second environmental information; and / or, If an abnormal connection risk is detected between the target vehicle and the connected trailer, the initial parking path is adjusted based on the connection information between the target vehicle and the trailer.

[0009] In one embodiment, the method for detecting the collision risk of the initial parking path includes: The second environmental information of the target vehicle during the parking process is acquired in real time, and the second environmental information is compared with the parking path of the target vehicle in the initial parking path; If, based on the comparison results, it is determined that the distance between the parking path and the target object in the second environmental information is less than or equal to a preset distance threshold, then it is determined that the initial parking path has a collision risk.

[0010] In one embodiment, a method for detecting the risk of an abnormal connection between the target vehicle and the connected trailer includes: The connection status information between the target vehicle and the trailer is acquired in real time, and the connection status information is compared with the preset safe driving standards. If, based on the comparison results, it is determined that the connection angle between the target vehicle and the trailer does not match the preset safe angle range, then it is determined that there is an abnormal connection risk between the target vehicle and the connected trailer.

[0011] In one embodiment, determining the target parameters for controlling the parking of the target vehicle includes: Based on the adjusted path information, the location information of the target vehicle, and the connection parameters between the target vehicle and the trailer, the parking speed and front wheel angle of the target vehicle are calculated. The target vehicle is controlled to park based on the speed and the front wheel angle.

[0012] In one embodiment, it further includes: During the parking process of the target vehicle, if a deviation is detected between the parking path of the target vehicle and the initial parking path or the adjusted parking path, the current pose information of the vehicle is obtained, and the parking path of the target vehicle is corrected based on the pose information.

[0013] This application also provides a vehicle configured to perform any of the parking methods described above.

[0014] This application also provides an electronic device, specifically including: a processor and a memory for storing executable instructions; the processor is configured to execute the instructions for performing any of the parking methods described above.

[0015] This application provides a parking method, vehicle, and electronic device. The method includes: acquiring first environmental information and acquiring pose information of a target vehicle; the target vehicle is connected to a trailer structure; determining an initial parking path for the target vehicle based on the first environmental information and the pose information; adjusting the initial parking path during the parking process of the target vehicle; and determining target parameters for controlling the parking of the target vehicle based on the adjustment result. This application's technical solution can provide an accurate parking path for the vehicle while effectively avoiding potential risks during parking, thus improving the parking safety of vehicles with trailers. Attached Figure Description

[0016] Figure 1 This is a schematic flowchart of a parking method provided in an embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram illustrating the specific process of the parking method provided in an embodiment of the present invention.

[0018] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0019] Processor 310, memory 311, network interface 312, bus system 313. Detailed Implementation

[0020] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0021] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0022] It should be understood that although the terms first, second, third, etc., may be used herein to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if," as used herein, can be interpreted as "when," "when," or "in response to determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms "comprising," "including," indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" as used herein are to be interpreted as inclusive, or mean any one or any combination thereof. Therefore, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C". Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0023] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0024] It should be noted that step designations such as S101 and S102 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the protection scope of this application.

[0025] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0026] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0027] like Figure 1 As shown, the parking method provided in this application embodiment can be implemented in software and / or hardware. In this embodiment, the parking method is applied to a server as an example. The parking method provided in this application embodiment includes the following steps: Step S101: Obtain first environmental information and the pose information of the target vehicle; the target vehicle is connected to a trailer structure.

[0028] Optionally, the first environmental information is the real-time, all-encompassing environmental data surrounding the vehicle collected and analyzed by the onboard sensing device before the target vehicle performs a parking maneuver. This data includes: information on surrounding obstacles, parking spaces, roads and ground conditions, and surrounding spatial constraints. Optionally, the onboard sensing device may include a surround-view camera and a wide-angle camera mounted on the target vehicle, and a wide-angle camera mounted at the rear of the trailer. The wide-angle camera at the rear of the trailer provides crucial rear-view visibility, and its coverage area can detect low-lying obstacles that cannot be observed by the target vehicle's rearview mirrors, such as bollards, curbs, and children.

[0029] Optionally, the target vehicle's position and orientation information can be collected in real time, including the spatial position and attitude angle of the target vehicle in the current site coordinate system, as well as the spatial position and attitude angle of the trailer connected to the target vehicle, for precise control of parking, driving, steering, and trajectory planning of the vehicle with the trailer.

[0030] Optionally, the trailer structure is detachably and fixedly connected to the rear of the target vehicle. This auxiliary carrier structure moves synchronously with the target vehicle, forming a complete vehicle assembly that participates in the parking maneuver as a whole. The trailer has no independent drive or steering system and is entirely towed by the target vehicle. Considering that the trailer's length, width, and articulation angle will alter the overall assembly's turning radius, total length, and passage and parking space requirements, the parking trajectory must be planned in conjunction with the trailer's dimensions and articulation angle.

[0031] In one embodiment, before determining the initial parking path of the target vehicle based on the first environmental information and pose information, the following steps are included: Determine whether parking conditions are met based on the initial environmental information; Parking conditions include at least one of the following: There is at least one available parking space; The available parking spaces meet the size requirements of the target vehicle; The first environmental information supports the target vehicle to park in an available parking space.

[0032] Optionally, before planning the initial parking path, a preliminary verification can be performed based on the first environmental information collected in advance to determine whether the current scenario supports parking. If the preset parking conditions are met, the parking path planning and subsequent parking actions can be performed based on the first environmental information; if not, the parking process is terminated and a prompt is output.

[0033] Optionally, the existence of at least one vacant parking space refers to identifying a compliant parking space that is not occupied by vehicles, debris, etc., within a preset parking search range around the vehicle after analyzing the first environmental information using sensing devices such as vision and radar. Optionally, when identifying at least one vacant parking space based on the first environmental information, it includes at least one of the following: identifying standard marked parking spaces and unmarked compliant parking areas; detecting whether the identified parking space is occupied, partially obstructed, has movable obstacles, or is completely vacant; and determining parking spaces with movable obstacles or that are completely vacant as vacant parking spaces.

[0034] Optionally, the overall external dimensions of the target vehicle and its accompanying trailer structure can be compared and verified to determine whether the available parking space meets the size requirements of the target vehicle. The verification information may include at least one of the following: verifying the length and width of the parking space, i.e., the net length and width of the parking space must be greater than the total length and width of the vehicle, trailer, and connecting parts, leaving room for parking errors; verifying special dimensions, i.e., for combinations with trailers, additionally checking the depth and opening width of the parking space to ensure that the overall structure can be driven into and parked completely without any protrusion of the vehicle body / trailer or scraping of the boundary.

[0035] Optionally, the decision on whether to allow a target vehicle to park can be made by considering the overall environment, spatial constraints, and traffic conditions of the available parking space. This includes: analyzing traffic path conditions, such as ensuring that the route from the vehicle's current location to the available parking space is free of large static obstacles, continuous narrow roads, dead ends, etc., and that there is sufficient space for passage; analyzing turning and cornering space, specifically considering the turning radius and articulated rotation characteristics of the target vehicle and the connected trailer assembly, to confirm that the space at curves and entrances / exits along the route can meet turning requirements; analyzing surrounding dynamic / static constraints, such as ensuring that there are no continuously moving pedestrians, passing vehicles, or other dynamic disturbances around the parking space, and that static boundaries such as curbs, walls, and pillars do not obstruct parking actions; and analyzing site conditions, such as ensuring that road surface slope, flatness, and ground adhesion are normal, and that there are no steep slopes, potholes, water accumulation, or other conditions that affect driving and parking.

[0036] Given the unique structure of the target vehicle paired with a trailer, the overall dimensions, turning characteristics, and space requirements of the assembly are considered simultaneously during the verification process. This ensures that the parking space size and passage space can match the overall shape of the vehicle with the trailer, thereby preventing issues such as scraping or getting stuck between the vehicle body, trailer, parking space boundaries, and surrounding obstacles caused by insufficient parking space or turning space, thus improving parking safety.

[0037] Step S102: Determine the initial parking path of the target vehicle based on the first environmental information and pose information.

[0038] Optionally, the initial parking path is a complete preset driving trajectory calculated by combining the first environmental information and the target vehicle pose information, which is the vehicle's journey from its current position to the target parking space and the completion of parking.

[0039] Optionally, during the initial path planning stage, the surrounding spatial constraints and obstacle range are identified based on the first environmental information. Combined with the real-time vehicle position and posture, the dynamic envelope area of ​​the trailer is predicted. During the trajectory generation stage, dangerous areas are actively avoided and the turning margin of the trailer is reserved, which effectively solves the most common problems such as rear scraping, side collisions, and roadside jamming during the parking process with a trailer.

[0040] Optionally, based on real-time pose matching of the initial trajectory starting point and driving posture, the steering and driving actions of the main vehicle are matched with the rotation rhythm of the trailer articulation, avoiding trailer posture instability and deviation exceeding tolerance caused by the main vehicle's actions being too fast or too slow. This ensures that the overall assembly enters the parking space smoothly, with a regular posture and accurate parking, improving the versatility and success rate of automatic parking with trailer in complex scenarios.

[0041] In one embodiment, determining the initial parking path of the target vehicle based on the first environmental information and pose information includes: Obtain parking space information for the target vehicle; Based on parking space information, initial environmental information, target vehicle position information, and trailer parameters of the trailer connected to the target vehicle, the initial parking path of the vehicle is determined.

[0042] Optionally, the parking space information can be the parking space information corresponding to the target parking space determined through the first environmental information. Optionally, if multiple available vacant parking spaces are determined, distance can be used as a limited reference factor to determine the nearest parking space as the target parking space for this parking, thereby obtaining the parking space information corresponding to the target parking space. Optionally, the parking space information includes: the absolute coordinates of the parking space and its orientation coordinates relative to the vehicle, the net length and width of the parking space, the depth of the parking space, the opening size of the parking space, the orientation angle of the parking space, the outline position of the four boundaries of the parking space, the boundaries of adjacent parking spaces, and the fixed boundary constraint information such as the surrounding curbs, walls, and pillars of the parking space. At the same time, it distinguishes between parking space types such as perpendicular parking spaces, parallel parking spaces, and angled parking spaces to achieve accurate matching between vehicles and parking spaces. Optionally, the final parking posture of the combination can be planned based on the size of the parking space, the boundary position, and the orientation, to ensure that the target vehicle body and the trailer as a whole can fully adapt to the parking space space, and that the vehicle body is upright, does not cross the line, and does not cross the boundary after parking, while ensuring that a safe gap is reserved between the combination and the four boundaries of the parking space to meet the requirements of compliant parking.

[0043] Optionally, the first environmental information includes static obstacle information (such as curbs, pillars, debris, walls, etc.), dynamic obstacle information (such as pedestrians, moving vehicles, etc.), parking area slope, road surface smoothness, and passage space width. The first environmental information can determine site conditions such as reserved turning areas, eliminate narrow, stuck, or impassable track sections, and ensure that the entire parking path is free of environmental obstructions.

[0044] Optionally, based on data such as the vehicle's current coordinates, relative distance and offset angle from the parking space, vehicle heading angle, wheel steering angle, and driving status, a continuous trajectory for starting, turning, straightening, and parking is planned in real time to avoid the path being disconnected from the vehicle's current posture, prevent problems such as starting jerking, steering deviation, and trajectory discontinuity, and ensure a smooth connection of the parking start action.

[0045] Optionally, the trailer parameters for connecting the trailer include the trailer's size data, the connection data between the trailer and the target vehicle, etc. Based on the trailer parameters, the lag of the trailer's articulated rotation, the range of tail swing, and the maximum outer dimensions of the overall assembly are considered to expand the turning space, optimize the turning timing, avoid the risk of the trailer's tail scraping against parking spaces, curbs, and obstacles, and generate a dedicated parking trajectory that is fully adapted to the motion characteristics of the current combined structure with the trailer vehicle.

[0046] Optionally, by integrating parking space information, initial environmental information, target vehicle position and orientation information, and trailer parameters of the trailer connected to the target vehicle, a multi-information fusion planning is performed. The resulting initial parking path is a continuous, smooth, and executable complete trajectory, including control parameters such as vehicle starting straight, segmented turning, precise parking, attitude fine-tuning, and final stopping, providing accurate trajectory basis for the subsequent automatic execution of parking actions by the vehicle.

[0047] Step S103: During the parking process of the target vehicle, the initial parking path is adjusted.

[0048] Optionally, during the parking process, the initial parking path can be adjusted based on changing environmental information or the connection status between the vehicle and the trailer to compensate for the deviation between the initial path planning and the actual environment on site, making the vehicle's driving trajectory more in line with the real parking scenario, improving parking positioning accuracy and parking regularity, ensuring the final parking effect, and improving parking safety for vehicles with trailers.

[0049] In one embodiment, adjusting the initial parking path includes: If a collision risk is detected in the initial parking path, the current second environmental information is obtained, and the initial parking path is adjusted based on the second environmental information; and / or, If an abnormal connection risk is detected between the target vehicle and the connected trailer, the initial parking path is adjusted based on the connection information between the target vehicle and the trailer.

[0050] Optionally, the second environmental information is the latest environmental perception data updated in real time during the parking process. It is different from the first environmental information collected before parking. The first environmental information is static environmental data before parking starts, which cannot cover environmental changes, recognition errors, and intrusion of dynamic obstacles during the parking process. The second environmental information is the real-time environmental status obtained by high-frequency refresh during the parking process, including real-time scene information such as changes in the position of dynamic obstacles, temporary obstructions, real-time passable areas, parking space boundary deviations, and distances to nearby obstacles.

[0051] Optionally, based on the second environmental information, the real-time safety envelope of the target vehicle and trailer assembly is recalculated, dangerous trajectory segments in the original initial parking path are identified, and the steering angle, steering timing, driving trajectory points, and driving speed of the original path are locally or globally corrected in combination with the trailer size, articulation swing range, and turning outward characteristics. A collision-free real-time driving path that meets the safety distance requirement is regenerated, enabling the vehicle and trailer to avoid real-time environmental risks and safely complete the subsequent parking actions.

[0052] Optionally, during the parking process, the initial parking trajectory is compared with the obstacles in the acquired second environmental information. If it is detected that there is a risk of collision with the obstacles based on the initial parking path, the initial parking path can be adjusted based on the acquired second environmental information. It can be understood that when adjusting the initial parking path, the path of the target vehicle before it has been driven is replanned and adjusted.

[0053] Optionally, the articulated connection status between the target vehicle and the trailer can be monitored in real time during parking. If an abnormal connection risk is detected between the vehicle and the trailer, a path adjustment is triggered. Parking with a trailer relies heavily on the stable operation of the articulated structure. The initial path is planned based solely on the standard articulated state. If the connection status is abnormal, continuing to execute the original path will cause problems such as trailer swaying out of control, articulation overtravel, structural tension, and attitude deviation.

[0054] Optionally, by detecting the collision risk caused by dynamic changes in the environment during parking, as well as the risk of loss of control due to abnormal trailer articulation, the initial parking path is dynamically corrected in all aspects from the two dimensions of environmental safety and structural linkage safety, adapting to complex parking conditions with trailer assemblies.

[0055] In one embodiment, the method for detecting a collision risk in the initial parking path includes: The system acquires the second environmental information of the target vehicle during the parking process in real time and compares the second environmental information with the parking path of the target vehicle in the initial parking path. If, based on the comparison results, the distance between the parking path and the target object in the second environmental information is less than or equal to a preset distance threshold, then it is determined that the initial parking path poses a collision risk.

[0056] Optionally, based on the subsequent parking paths where the vehicle has not yet moved in the initial parking path, and combined with the overall body envelope size of the target vehicle and trailer, the trajectory range of the parking paths is compared segment by segment and region by region with the spatial positions of all target objects in the second environmental information.

[0057] Optionally, a preset distance threshold can be determined based on the vehicle dimensions of the target vehicle and the trailer, and the connection parameters between them. If the comparison results show that the real-time relative distance between the combined driving envelope range corresponding to the parking path of the initial parking path and any target object in the second environmental information is less than or equal to the preset distance threshold, it is determined that the current initial parking path cannot meet the safe driving requirements, and there is a potential risk of scraping, squeezing, collision, or jamming during subsequent driving. In other words, it is determined that the initial parking path has a collision risk, triggering the subsequent path adaptive adjustment process.

[0058] Optionally, by collecting second environmental information in real time during the parking process, the problems of static lag in the first environmental information, inability to adapt to environmental changes during parking, and intrusion of dynamic obstacles are solved, realizing dynamic risk monitoring throughout the process and significantly improving the safety and stability of trailer parking in complex scenarios.

[0059] In one embodiment, a method for detecting the risk of an abnormal connection between a target vehicle and a connected trailer includes: The system acquires the connection status information between the target vehicle and the trailer in real time and compares the connection status information with preset safe driving standards. If, based on the comparison results, it is determined that the connection angle between the target vehicle and the trailer does not match the preset safe angle range, then it is determined that there is an abnormal connection risk between the target vehicle and the connected trailer.

[0060] Optionally, during the entire process of the target vehicle towing the trailer to perform automatic parking, the connection status information between the target vehicle and the trailer is collected in real time to achieve dynamic monitoring of the articulated state of the trailer. The connection status information includes the relative connection angle formed by the articulation positions of the target vehicle and the trailer. This angle directly reflects the trailer's deflection attitude relative to the target vehicle, the amplitude of the articulation swing, and its following status, and is a core parameter characterizing the stability of the trailer connection.

[0061] Optionally, based on the size of the connected trailer, a preset safe angle range adapted to parking conditions can be pre-stored. This safe angle range combines the trailer size, articulated structure limits, parking turning radius, and low-speed driving stability calibration to provide a compliant angle range for smooth vehicle steering, minor attitude adjustments, and safe parking, which can meet the structural safety and motion stability requirements of parking with a trailer throughout the entire process.

[0062] Optionally, the real-time collected connection angle data between the vehicle and the trailer is compared and verified with a preset safety angle range to determine whether the current articulation deflection state of the trailer is compliant. If the real-time connection angle is greater than the maximum value of the preset safety angle range or less than the minimum value of the preset safety angle range, it indicates that the current swing of the trailer relative to the main vehicle is too large, the articulation deflection exceeds the standard, and the linkage state between the vehicle and the trailer has deviated from the standard parking condition. Continuing to drive according to the original initial parking path will cause problems such as trailer fishtailing and loss of control, excessive pulling of the articulated structure, lateral offset and scraping, and turning jamming. Therefore, it is determined that there is an abnormal connection risk between the target vehicle and the trailer, thereby triggering the subsequent adaptive adjustment process of the initial parking path.

[0063] Optionally, by using quantified safety angle thresholds, abnormal conditions such as excessive trailer sway, articulation exceeding limits, and attitude instability can be accurately identified. This allows for early prediction of risks before the trailer scrapes, fishtails, or structural strains occur, effectively preventing malfunctions such as overload of the articulated structure, loss of trailer attitude control, and vehicle body deviation during parking, thus ensuring the structural safety and driving stability of the trailer assembly.

[0064] Step S104: Based on the adjustment results, determine the target parameters used to control the parking of the target vehicle.

[0065] Optionally, the target parameters are a set of vehicle control command parameters ultimately determined based on the parking path adjustment results. These parameters are used to control the target vehicle and trailer assembly in real time to complete the parking maneuver and serve as the direct control basis for the parking execution phase. Target parameters include driving speed, front wheel steering angle, etc.

[0066] Understandably, the target parameters will be dynamically adjusted and updated in real time according to the path, matching the changes in the surrounding environment and trailer connection status throughout the process, ensuring that the combined vehicle can smoothly and safely drive to the parking space and stop steadily according to the corrected path.

[0067] In one embodiment, determining target parameters for controlling the parking of a target vehicle includes: Based on the adjusted path information, the location information of the target vehicle, and the connection parameters between the target vehicle and the trailer, calculate the parking speed and front wheel angle of the target vehicle. Control the target vehicle to park based on speed and front wheel steering angle.

[0068] Optionally, the adjusted path information is the latest safe trajectory that avoids collision risks, adapts to the real-time environment, and matches the trailer connection status. It includes the target driving points, turning intervals, parking posture, and safe passage boundaries at each stage. Using this dynamically corrected trajectory as the core benchmark, the target position and driving trend that the vehicle needs to reach at each moment are determined, ensuring that the speed and turning angle calculations are completely consistent with the current optimal path that can be safely passed, and avoiding the scraping and deviation problems caused by using the initial static path.

[0069] Optionally, the target vehicle's position information includes real-time vehicle coordinates, lateral and longitudinal deviations relative to the parking path, and real-time pose data such as the vehicle's heading angle. During the parking process, the vehicle's actual position may deviate slightly from the theoretical trajectory due to road surface errors, slippage, and perception deviations. Through real-time position information closed-loop correction, the trajectory following error is dynamically compensated, enabling the calculated front wheel steering angle to be accurately corrected, ensuring that the vehicle continuously follows the adjusted target path.

[0070] Optionally, by fusing multi-source data on the adjusted path information, the location information of the target vehicle, and the connection parameters between the target vehicle and the trailer, the system outputs continuous, smooth, and segmented adjustable parking speed and front wheel angle in real time. The parking speed includes segmented driving speed, acceleration and deceleration curves, and low-speed creep speed to ensure stable speed during steering, parking, and fine-tuning, and to suppress large-scale trailer swaying. The front wheel angle includes real-time target angle, steering change rate, return angle, and fine-tuning correction angle to match the turning radius and envelope of the trailer assembly, ensuring that the trailer trajectory is synchronously controlled, without overshoot or fishtailing, while the main vehicle is turning.

[0071] Optionally, the real-time calculated speed and front wheel steering angle commands are output to the vehicle chassis electronic control system, enabling closed-loop control of the vehicle to complete the entire parking process, including straight approach, segmented steering, attitude fine-tuning, precise parking, and final stopping. Throughout the control process, the speed and steering angle are continuously and dynamically updated, and each control action is adapted to the real-time path, real-time parking space deviation, and real-time trailer connection status, achieving a precise master vehicle trajectory, stable trailer posture, and overall collision-free automatic parking effect.

[0072] Optionally, real-time integration of position deviations allows for fine-tuning control, resulting in continuous and smooth changes in front wheel steering angle and stable speed transitions without abrupt control actions. This effectively reduces vibration, pulling, and sudden attitude changes in the trailer assembly during parking in tight spaces, improving the smoothness of the parking process. It can adapt to complex conditions such as narrow parking spaces, initial tilted posture, and slight trailer sway, greatly enhancing the scenario adaptability, safety, and final parking success rate of automatic parking with a trailer.

[0073] In one embodiment, it further includes: During the parking process of the target vehicle, if a deviation is detected between the parking path of the target vehicle and the initial parking path or the adjusted parking path, the current position and pose information of the vehicle is obtained, and the parking path of the target vehicle is corrected based on the position and pose information.

[0074] Optionally, during the entire parking process of the target vehicle towing the trailer, the actual driving trajectory of the vehicle is continuously compared with the initial parking path and the adjusted parking path to monitor in real time whether there are any trajectory deviations, including the actual driving route, driving point, vehicle posture, and deviations from the preset standard trajectory.

[0075] Optionally, when a trajectory deviation exceeding the allowable range is detected, the target vehicle's current real-time pose information is collected, including the vehicle's real-time coordinates, lateral / longitudinal offset from the target path, vehicle heading angle, pitch angle, wheel steering status, and other data. Simultaneously, the relative attitude of the trailer is acquired to comprehensively assess the overall deviation of the assembly. Based on the current pose information and considering the trailer's external dimensions, articulated motion characteristics, and safe passage space, the local driving trajectory, steering timing, and travel point are recalculated. The vehicle's current parking path is corrected in real-time, gradually reducing the difference between the actual route and the standard route, guiding the target vehicle and trailer assembly back to the preset trajectory, and ensuring that subsequent parking actions proceed normally according to the planned route.

[0076] In summary, the parking method provided in the above embodiments can provide accurate parking paths for vehicles, effectively avoid potential risks when parking vehicles, and improve the parking safety of vehicles with trailers.

[0077] Based on the same inventive concept as the foregoing embodiments, this application also provides a complete example of a parking method, specifically implemented through the hardware architecture of a vehicle's driving assistance system, including: S201, The user activates the intelligent parking assistance function.

[0078] Optionally, users can activate the vehicle's intelligent parking assistance function via the in-vehicle central control screen, physical buttons, or voice commands. At this time, the target vehicle is in a parking standby state, ready to start the environmental perception, pose calculation, and towing status monitoring process, providing basic support for subsequent identification, judgment, and trajectory planning for parking with a trailer.

[0079] S202, the central control computing module receives trailer connection information via CAN communication and starts the preset parking model.

[0080] Optionally, the target vehicle's central control computing module obtains trailer connection status information in real time via the vehicle's CAN bus, including key parameters such as the articulated assembly status of the target vehicle and trailer, the initial articulation angle, trailer size parameters, and the online status of the trailer's sensing devices. Based on the trailer's connected status, a dedicated preset parking model adapted to the trailer assembly is automatically retrieved and activated. This parking model incorporates proprietary algorithms for trailer kinematic constraints, articulated swing limits, and assembly safety envelopes, ensuring that subsequent path planning and vehicle control are adapted to the motion characteristics of the trailer-connected assembly. This algorithmically avoids issues such as fishtailing, scraping, and trajectory deviation caused by a single-vehicle model being unsuitable for the trailer.

[0081] S203. Obtain environmental information of the parking area and initial pose information of the target vehicle.

[0082] Optionally, the vehicle's full-vehicle sensing equipment is activated to collect initial environmental information and the target vehicle's initial pose information in the parking scenario. The initial environmental information includes the parking space's location, size, boundary markings, surrounding curbs, pillars, walls, static debris, dynamic pedestrians and vehicles, passable areas, and site conditions. The initial pose information includes the target vehicle's global coordinates, offset distance relative to the parking space, vehicle heading angle, pitch attitude, and initial wheel rotation angle. This step is the pre-parking static sensing stage, used to fully reconstruct the scene and the vehicle's initial state, providing raw data support for parking condition judgment and initial path planning.

[0083] S204. The central control computing unit determines whether the current environment meets the parking conditions.

[0084] Optionally, the central control computing unit performs a preliminary parking condition check based on the collected first environmental information. This includes determining whether there are available parking spaces in the scene, whether the size of the available parking spaces meets the overall external dimensions of the vehicle + trailer combination, and whether the parking path and site environment support the complete parking of the combination. Only when the scene meets all the core conditions of available parking spaces, compliant dimensions, and passable environment is the parking condition deemed met; if there are insufficient parking spaces, narrow space, or obstacles blocking passage, the parking condition is deemed not met, and the parking process is terminated to avoid ineffective planning and driving actions.

[0085] S205. Confirm the parking space and prompt the user to use the intelligent parking function. The user clicks to start parking.

[0086] Optionally, after passing the parking condition verification, the system automatically filters and locks the optimal vacant parking space as the target parking space, combining the overall size of the trailer, the difficulty of parking, and the smoothness of the trajectory to optimize the parking space. Subsequently, a pop-up window or voice prompt on the in-vehicle central control interface will prompt the user that the current scenario supports intelligent parking, informing the user of the target parking space location and parking status. After receiving the user's confirmed parking start command, the system officially enters the automatic parking execution phase, initiating the initial parking path planning and fully automatic control process, ensuring the safety of human-machine interaction, and realizing the legal and compliant triggering of the parking action.

[0087] S206. The central control computing unit, based on the kinematic model, takes the parking trajectory of the rear axle center point of the trailer as the control target, combines a two-dimensional semantic map, plans and determines the initial parking path, and calculates the front wheel steering angle and speed required to travel along the parking path.

[0088] Optionally, the parking trajectory of the trailer's rear axle center point is used as the control target, matched with the actual kinematic model of the trailer assembly. This can accurately constrain the trailer's driving trajectory and control its tail-swing and deviation from the source. Simultaneously, by combining a two-dimensional semantic map of the parking scene constructed from perception, and integrating semantic information of parking spaces, obstacles, and passable areas, along with the vehicle's initial pose, trailer structural parameters, and articulation constraints, a safe, smooth initial parking path adapted to the trailer's motion characteristics is calculated and generated.

[0089] Optionally, based on the characteristics of the trajectory curve, the vehicle speed curve and the target steering angle parameters of the front wheels can be calculated in segments to ensure that the steering and driving rhythm of the main vehicle are fully matched with the following movement of the trailer, thereby ensuring the overall trajectory of the assembly is compliant and reducing the risk of accidents.

[0090] S207: During the parking process, the central control computing unit integrates real-time images and point cloud data collected by the perception system on the tractor and the camera installed on the trailer to dynamically monitor obstacles behind the trailer and correct the target vehicle's trajectory in real time until parking is completed.

[0091] Optionally, during the entire automatic parking process, a multi-terminal fusion dynamic perception and trajectory closed-loop correction mechanism is activated. On one hand, it integrates radar and camera perception data from the tractor unit and image and point cloud data from the trailer's dedicated camera, compensating for the shortcomings of traditional single-vehicle systems that cannot monitor blind spots behind and to the sides of the trailer. This provides comprehensive monitoring of dynamic obstacles and nearby risk targets around and behind the trailer, generating real-time secondary environmental information. On the other hand, it continuously compares the deviation between the vehicle's actual driving trajectory and the initial parking path, as well as the adjusted parking path. Simultaneously, it monitors the articulation angle and connection status of the tractor unit and trailer in real time, dynamically identifying collision risks and connection anomalies. When environmental risks, trajectory deviations, or trailer connection anomalies are detected, the parking path is adjusted and corrected in real time, and vehicle speed and front wheel steering angle control parameters are updated, continuously performing closed-loop correction to ensure that the tractor unit and trailer assembly always travel smoothly along a safe trajectory until fully parked, with a correct posture and in the correct parking position.

[0092] S208, Exit parking.

[0093] Optionally, when the target vehicle and trailer are completely parked in the target parking space, the vehicle body and trailer posture meet the parking standards, there is no line crossing or deviation, and there are no nearby obstacles posing a risk, the parking task is determined to be completed, the intelligent parking assistance mode is automatically exited, the vehicle's normal driving state is restored, and a voice or interface prompt is given that the parking is complete.

[0094] In summary, the parking method provided in the above embodiments plans the path with the rear axle center of the trailer as the control target and dynamically corrects the driving trajectory, simplifies the parking control logic, effectively avoids trailer collisions and trajectory deviations, and improves the safety, accuracy and automation of parking with a trailer.

[0095] Based on the same inventive concept as the foregoing embodiments, this embodiment of the invention provides a vehicle configured to perform a parking method.

[0096] Based on the same inventive concept as the foregoing embodiments, this invention provides an electronic device, such as... Figure 3 As shown, the electronic device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 3 The processor 310 shown in the diagram does not indicate that there is only one processor 310, but only indicates the positional relationship of the processor 310 relative to other devices. In practical applications, there can be one or more processors 310; similarly, Figure 3 The memory 311 shown in the diagram has the same meaning, that is, it is only used to indicate the positional relationship of memory 311 relative to other devices. In practical applications, there can be one or more memories 311. When the processor 310 runs the computer program, the above parking method is implemented.

[0097] The electronic device may also include at least one network interface 312. The various components of the electronic device are coupled together via a bus system 313. It is understood that the bus system 313 is used to implement communication between these components. In addition to a data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 3 The general designated all buses as Bus System 313.

[0098] The memory 311 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 311 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memory.

[0099] The memory 311 in this embodiment of the invention is used to store various types of data to support the operation of the electronic device. Examples of this data include: any computer programs used to operate on the electronic device, such as operating systems and applications; contact data; phonebook data; messages; pictures; videos, etc. The operating system includes various system programs, such as a framework layer, core library layer, driver layer, etc., used to implement various basic services and handle hardware-based tasks. Applications can include various applications, such as media players, browsers, etc., used to implement various application services. Here, the program implementing the method of this embodiment of the invention can be included in the application.

[0100] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0101] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0102] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention 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 the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A parking method, characterized in that, include: Acquire the initial environmental information and the pose information of the target vehicle; The target vehicle is connected to a trailer structure; Based on the first environmental information and the pose information, the initial parking path of the target vehicle is determined; During the parking process of the target vehicle, the initial parking path is adjusted; Based on the adjustment results, target parameters for controlling the parking of the target vehicle are determined.

2. The method according to claim 1, characterized in that, Before determining the initial parking path of the target vehicle based on the first environmental information and the pose information, the following steps are included: Determine whether parking conditions are met based on the first environmental information; The parking conditions include at least one of the following: There is at least one available parking space; The available parking spaces meet the size requirements of the target vehicle; The first environmental information supports the target vehicle parking in the available parking space.

3. The method according to claim 1, characterized in that, Determining the initial parking path of the target vehicle based on the first environmental information and the pose information includes: Obtain the parking space information where the target vehicle is to be parked; The initial parking path of the vehicle is determined based on the parking space information, the first environmental information, the position and pose information of the target vehicle, and the trailer parameters of the trailer connected to the target vehicle.

4. The method according to claim 1, characterized in that, The adjustment of the initial parking path includes: If a collision risk is detected in the initial parking path, the current second environmental information is obtained, and the initial parking path is adjusted based on the second environmental information; and / or, If an abnormal connection risk is detected between the target vehicle and the connected trailer, the initial parking path is adjusted based on the connection information between the target vehicle and the trailer.

5. The method according to claim 4, characterized in that, The method for detecting the collision risk of the initial parking path includes: The second environmental information of the target vehicle during the parking process is acquired in real time, and the second environmental information is compared with the parking path of the target vehicle in the initial parking path; If, based on the comparison results, it is determined that the distance between the parking path and the target object in the second environmental information is less than or equal to a preset distance threshold, then it is determined that the initial parking path has a collision risk.

6. The method according to claim 4, characterized in that, The method for detecting the risk of abnormal connection between the target vehicle and the connected trailer includes: The connection status information between the target vehicle and the trailer is acquired in real time, and the connection status information is compared with the preset safe driving standards. If, based on the comparison results, it is determined that the connection angle between the target vehicle and the trailer does not match the preset safe angle range, then it is determined that there is an abnormal connection risk between the target vehicle and the connected trailer.

7. The method according to claim 1, characterized in that, The determination of target parameters for controlling the parking of the target vehicle includes: Based on the adjusted path information, the location information of the target vehicle, and the connection parameters between the target vehicle and the trailer, the parking speed and front wheel angle of the target vehicle are calculated. The target vehicle is controlled to park based on the speed and the front wheel angle.

8. The method according to claim 1, characterized in that, Also includes: During the parking process of the target vehicle, if a deviation is detected between the parking path of the target vehicle and the initial parking path or the adjusted parking path, the current pose information of the vehicle is obtained, and the parking path of the target vehicle is corrected based on the pose information.

9. A vehicle, characterized in that, The vehicle is configured to perform the parking method according to any one of claims 1-8.

10. An electronic device, characterized in that, include: A processor and a memory for storing executable instructions; wherein the processor is configured to execute the instructions to implement the parking method as described in any one of claims 1-8.

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