Parking method and device, and vehicle

Abstract

A parking method is provided, the method includes the steps of: acquiring information about a plurality of parking areas; acquiring a relative position relationship between a vehicle and each of the plurality of parking areas; and recommending a first parking area to a user based on the relative position relationship and a first driving behavior of the user, where the plurality of parking areas includes the first parking area. The parking method can be applied to new energy vehicles or intelligent vehicles, and helps improve the parking efficiency of the user and helps improve the parking experience of the user. A parking device and a vehicle are further provided.

Description

[Technical field]

[0001] TECHNICAL FIELD Embodiments of the present application relate to the field of intelligent driving, and more particularly, to a parking method and apparatus, and a vehicle. [Background technology]

[0002] Automated parking (AP) means that a vehicle is automatically parked in a parking space, specifically, an autonomous driving system can semi-automatically or fully-automatically help a user park a vehicle in a parking space. Automated parking can include auto parking assist (APA), remote parking assist (RPA), auto valet parking (AVP), etc.

[0003] Current automatic parking technology has high requirements on the driver. For example, when the driver is driving the vehicle, if the attitude or position of the vehicle does not meet the requirements (e.g., significant lane violation), the vehicle cannot identify the parking space, the vehicle cannot enter the parking space due to the inaccurate determination of the vehicle, etc. As a result, the driver will directly miss the suitable parking space or opportunity, and the parking efficiency is low. Summary of the Invention [Means for solving the problem]

[0004] Therefore, how to improve parking efficiency and accuracy has become an urgent problem to be solved.

[0005] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present application provide parking methods and apparatus, and vehicles, that help users improve efficiency and accuracy when performing parking.

[0006] In this application, a vehicle (sometimes abbreviated as a car) is a vehicle in a broad sense, and may be a means of transportation (e.g., an automobile, a truck, a motorcycle, a train, an airplane, or a ship), an industrial vehicle (e.g., a forklift truck, a trailer, or a tractor), an engineering vehicle (e.g., a hydraulic excavator, a bulldozer, or a crane), an agricultural device (e.g., a lawnmower, a harvester), a recreational device, a toy vehicle, etc. The type of vehicle is not limited in this application.

[0007] According to a first aspect, a parking method is provided, the method including the steps of acquiring information about a plurality of parking areas, acquiring a relative positional relationship between a vehicle and each of the plurality of parking areas, and recommending a first parking area to a user based on the relative positional relationship and a first driving behavior of the user, where the plurality of parking areas includes the first parking area.

[0008] In this embodiment of the present application, after obtaining information about the multiple parking areas, the vehicle may prompt the user with the recommended parking area based on the relative positional relationship between the vehicle and each parking area and the user's driving behavior, so that the user can quickly target the recommended parking area from the multiple parking areas for parking. This helps the user speed up the process of selecting a suitable parking area from the multiple parking areas, helps prevent the user from manually selecting a parking area that is difficult to park in, helps improve the user's parking efficiency, and helps improve the user's parking experience and efficiency as a whole.

[0009] In some possible implementations, the parking area includes an exit area (eg, an area acquired after a vehicle has left the parking lot) or an entry area (eg, a parking space).

[0010] In some possible implementations, the first driving behavior comprises a first gear information and / or a first steering information of the steering wheel, the first steering information of the steering wheel corresponding to a first steering direction of the road wheels.

[0011] In some possible implementations, the first parking area may include two or more parking areas.

[0012] In some possible implementations, the method further includes prompting the user for a recommendation for the first parking area.

[0013] With regard to the first aspect, in some implementations of the first aspect, the method further includes a step of recommending a second parking area to the user based on the relative positional relationship and the user's second driving behavior, wherein the plurality of parking areas includes the second parking area.

[0014] In this embodiment of the present application, after a first parking area is recommended to a user, in the process of the user driving the vehicle to the first parking area, the recommended parking area can be switched from the first parking area to a second parking area according to the driving behavior of the user. In this way, the vehicle can prompt the user with the updated recommended parking area in time, which improves the user's parking efficiency and improves the user's parking experience.

[0015] In some possible implementations, the second driving behavior includes a second gear information and / or a second steering information of the steering wheel, the second steering information of the steering wheel corresponding to a second steering direction of the road wheels.

[0016] With respect to the first aspect, in some implementations of the first aspect, the method further includes a step of determining a parking mode of the vehicle based on the relative positional relationship and a third driving behavior of the user, the parking mode including entering or exiting the parking area.

[0017] In this embodiment of the present application, before determining the recommended parking area, the vehicle may first determine a parking mode based on the relative positional relationship between the vehicle and each parking area and the user's driving behavior. In this way, the vehicle can prompt the user with the recommended parking area during the parking mode, and does not need to provide the user with information about the parking area when the parking area is entered or exited. Therefore, the parking area is recommended to better satisfy the user's parking intention. This avoids inaccurate recommendations of parking areas and improves the user's parking efficiency.

[0018] In some possible implementations, the third driving behavior includes one or more of gear information, steering wheel steering information, information regarding whether the vehicle is powered on within a first preset duration before the parking mode of the vehicle is determined, and an automatic parking mode in which the vehicle is in before the parking mode of the vehicle is determined.

[0019] In some possible implementations, it may be determined that the parking mode is to enter a parking area based on one or more of the following conditions: the vehicle is able to identify a parking space but the vehicle is not in the parking space or the vehicle is not fully parked in the parking space; the vehicle switches from a state where the vehicle is not in a parking space to a state where the vehicle is entering one or more parking spaces (e.g., in the process of manually entering a parking space, the user does not enter the parking space through multiple gear changes); the vehicle switches from a state where the vehicle is not in a parking space to a state where the vehicle is entered into a parking space but the vehicle is not parked in the center of the parking space (e.g., the vehicle detects a user manually entering the parking space in a time period prior to the vehicle not being parked in the center of the parking space); before the parking mode is determined, the vehicle detects that the vehicle has entered an automatic entry mode and actively or passively exits the automatic entry mode when the vehicle is not entered into a parking space.

[0020] In some possible implementations, it may be determined that the parking mode is to exit a parking area based on one or more of the following conditions: the vehicle is able to identify a parking space and the vehicle is within the parking space and is center parked; the vehicle is able to identify a parking space and the vehicle is within the parking space when the vehicle is powered on and started for the first time; the vehicle detects that the vehicle entered an automatic exit mode before the parking mode was determined and the vehicle actively or passively exits the automatic exit mode when the vehicle has not been exited from the parking space; the vehicle is within a parking space and the vehicle detects that the vehicle has not completely left the parking space after the user has driven the vehicle one or more times.

[0021] In some possible implementations, when the parking mode is to enter a parking area, the relative position relationship information may further include whether the vehicle is entering the parking area. If the vehicle is entering the parking area, the parking area may be determined as a recommended parking area.

[0022] Regarding the first aspect, in some implementations of the first aspect, the first driving action includes first gear information of the vehicle and first steering information of a steering wheel of the vehicle, the first steering information of the steering wheel corresponds to a first steering direction of the wheels, the parking mode is entering a parking area, and the step of recommending the first parking area to the user based on the relative positional relationship and the first driving action of the user includes a step of recommending the first parking area to the user based on the first gear information and an included angle between the first steering direction and a direction of a first side of each parking area, where the first side corresponds to a direction in which the vehicle enters the parking area.

[0023] In this embodiment of the present application, the recommended parking area is determined by referring to the included angle between the wheel steering direction and the direction of the outermost parking space line of the opening of the parking area, which helps the user to speed up the process of selecting a suitable parking area from multiple parking areas, helps to prevent the user from manually selecting a parking area that is difficult to park in, helps to improve the user's parking efficiency, and helps to improve the user's parking experience and efficiency as a whole.

[0024] With regard to the first aspect, in some implementations of the first aspect, the relative positional relationship further includes information regarding the distance between the vehicle and each parking area and the included angle between the direction of the second side of the vehicle and a connecting line between the wheel center point of the second side and the center point of the parking space line of the first side, wherein the first side and the second side correspond to the direction in which the vehicle enters the parking area.

[0025] In this embodiment of the present application, the recommended parking area is determined based on the distance between the vehicle and the parking area, and the included angle between the direction of the wheel and the direction of the parking space line, which helps the user to speed up the process of selecting a suitable parking area from multiple parking areas, helps to prevent the user from manually selecting a parking area that is difficult to park in, helps to improve the user's parking efficiency, and helps to improve the user's parking experience as a whole.

[0026] With regard to the first aspect, in some implementations of the first aspect, prior to the step of determining a parking mode of the vehicle, the method further includes a step of determining that the speed of the vehicle is less than or equal to a preset speed threshold.

[0027] In this embodiment of the present application, the recommended parking area may be determined by referring to the information on the distance between the vehicle and each parking area, and the included angle between the wheel direction and the connecting line between the wheel center point of the vehicle and the center point of the outermost parking space line of the opening of the parking area, which helps the user to speed up the process of selecting a suitable parking area from multiple parking areas, helps to prevent the user from manually selecting a parking area that is difficult to park in, helps to improve the user's parking efficiency, and helps to improve the user's parking experience as a whole.

[0028] With respect to the first aspect, in some implementations of the first aspect, the method further includes determining information regarding a parking trajectory from a current position of the vehicle to the first parking area based on a pose of the vehicle and information regarding the first parking area, and prompting a user for the information regarding the parking trajectory.

[0029] In this embodiment of the present application, after determining the recommended parking area, the vehicle can automatically plan the information about the parking trajectory from the current position of the vehicle to the recommended parking area, so that the user can conveniently drive the vehicle to the first parking area based on the information about the parking trajectory. This helps to improve the user's parking efficiency, improve the user's parking experience, and also helps to ensure the user's parking safety.

[0030] Regarding the first aspect, in some implementations of the first aspect, the information about the parking trajectory includes one or more of a number of planned gear changes, a planned parking path, and a planned parking duration from the vehicle's current position to the first parking area. The method further includes prompting the user to use the automatic parking function when one or more of the following conditions are met: detecting that the number of gear changes of the user in the process of driving from the current position to the first parking area is equal to or greater than the number of planned gear changes, detecting that the length of the driving path of the vehicle from the current position to the first parking area is equal to or greater than the length of the planned parking path, or detecting that the duration of parking of the vehicle from the current position to the first parking area is equal to or greater than the planned parking duration.

[0031] In this embodiment of the present application, when the vehicle detects that the user has parking difficulties in the manual parking process, the vehicle can prompt the user to use the automatic parking function in time, so that the user can conveniently switch from manual parking to automatic parking in time, which helps to improve parking efficiency and also helps to ensure the parking safety of the user.

[0032] With respect to the first aspect, in some implementations of the first aspect, the method further includes, when the vehicle is parked in the first parking area and the vehicle is not parked in the center of the first parking area, prompting the user that the vehicle is not parked in the center of the first parking area or prompting the user to use an automatic parking function.

[0033] In this embodiment of the present application, after the vehicle is parked in the first parking area, the vehicle detects that the vehicle is not parked in the center of the first parking area. In this case, the vehicle may notify the user that the vehicle is not parked in the center, or the vehicle may prompt the user to park the vehicle in the center of the parking area via the automatic parking function. This helps to reduce the risk of scrapes or violations caused by not parking in the center, and helps to improve the user experience.

[0034] Regarding the first aspect, in some implementations of the first aspect, the second driving action includes second gear information of the vehicle and second steering information of a steering wheel of the vehicle, the second steering information of the steering wheel corresponds to a second steering direction of the wheel, the parking mode is entering a parking area, and the step of recommending a second parking area to the user based on the relative positional relationship and the second driving action of the user includes a step of recommending the second parking area to the user based on the second gear information and an included angle between the second steering direction and a direction of a first side of each parking area, where the first side corresponds to a direction in which the vehicle enters the parking area.

[0035] According to a second aspect, a parking apparatus is provided, the apparatus including: an acquisition unit configured to acquire information regarding a plurality of parking areas, the acquisition unit being further configured to acquire a relative positional relationship between a vehicle and each of the plurality of parking areas; and a recommendation unit configured to recommend a first parking area to a user based on the relative positional relationship and a first driving behavior of the user, the plurality of parking areas including the first parking area.

[0036] With regard to the second aspect, in some implementations of the second aspect, the recommendation unit is further configured to recommend a second parking area to the user based on the relative positional relationship and the second driving behavior of the user, and the plurality of parking areas includes the second parking area.

[0037] Regarding the second aspect, in some implementations of the second aspect, the apparatus further includes a first determination unit configured to determine a parking mode of the vehicle based on the relative positional relationship and a third driving behavior of the user before the acquisition unit acquires information regarding the plurality of parking areas, where the parking mode includes entering the parking area or exiting the parking area.

[0038] Regarding the second aspect, in some implementations of the second aspect, the first driving action includes first gear information of the vehicle and first steering information of a steering wheel of the vehicle, the first steering information of the steering wheel corresponds to a first steering direction of the wheel, the parking mode is entering a parking area, and the recommendation unit is specifically configured to recommend the first parking area to the user based on the first gear information and an included angle between the first steering direction and a direction of a first side of each parking area, the first side corresponds to a direction in which the vehicle enters the parking area.

[0039] Regarding the second aspect, in some implementations of the second aspect, the relative positional relationship further includes information regarding the distance between the vehicle and each parking area and the included angle between the direction of the second side of the vehicle and a connecting line between the wheel center point of the second side and the center point of the parking space line of the first side, wherein the first side and the second side correspond to the direction in which the vehicle enters the parking area.

[0040] With regard to the second aspect, in some implementations of the second aspect, the first determination unit is further configured to determine that a speed of the vehicle is less than or equal to a preset speed threshold before determining a parking mode of the vehicle.

[0041] Regarding the second aspect, in some implementations of the second aspect, the apparatus further includes a second determination unit configured to determine information regarding a parking trajectory from a current position of the vehicle to the first parking area based on a pose of the vehicle and information regarding the first parking area, and a first prompting unit configured to prompt a user for the information regarding the parking trajectory.

[0042] With regard to the second aspect, in some implementations of the second aspect, the information about the parking trajectory includes one or more of a number of planned gear changes, a planned parking path, and a planned parking duration from the vehicle's current position to the first parking area, and the first prompting unit is further configured to prompt the user to use the automatic parking function when one or more of the following conditions are met: detecting that the number of gear changes of the user in the process of driving from the current position to the first parking area is equal to or greater than the number of planned gear changes, detecting that the length of the driving path of the vehicle from the current position to the first parking area is equal to or greater than the length of the planned parking path, or detecting that the duration of parking of the vehicle from the current position to the first parking area is equal to or greater than the planned parking duration.

[0043] With regard to the second aspect, in some implementations of the second aspect, the apparatus further includes a second prompting unit configured to, when the vehicle is entered into the first parking area and the vehicle is not parked in the center of the first parking area, prompt the user that the vehicle is not parked in the center of the first parking area or prompt the user to use the automatic parking function.

[0044] According to a third aspect, there is provided an apparatus, the apparatus including a memory configured to store computer instructions, and a processor configured to execute the computer instructions stored in the memory to enable the apparatus to perform the method of the first aspect.

[0045] According to a fourth aspect there is provided a vehicle, the vehicle including an apparatus according to any one of the second or third aspects.

[0046] According to a fifth aspect there is provided a computer program product comprising computer program code which, when executed on a computer, enables the computer to carry out the method of the first aspect.

[0047] The whole or part of the computer program code may be stored in the first storage medium. The first storage medium may be encapsulated together with the processor or may be encapsulated separately from the processor. This is not limited to the embodiment of the present application.

[0048] According to a sixth aspect there is provided a computer readable medium storing program code which, when executed on a computer, enables the computer to carry out the method of the first aspect.

[0049] According to a seventh aspect, an embodiment of the present application provides a chip system, comprising a processor configured to invoke computer programs or computer instructions stored in a memory to enable the processor to perform a method according to the first aspect.

[0050] Regarding the seventh aspect, in one possible implementation, the processor is coupled to the memory via an interface.

[0051] Regarding the seventh aspect, in one possible implementation, the chip system further comprises a memory, the memory storing computer programs or computer instructions. [Brief description of the drawings]

[0052] [Figure 1] 1 is a schematic functional block diagram of a vehicle according to an embodiment of the present application. [Diagram 2] FIG. 2 is a schematic diagram of sensing ranges of various sensors according to an embodiment of the present application. [Diagram 3] 1 is a schematic flow chart of a parking method according to an embodiment of the present application. [Figure 4(a)] FIG. 2 illustrates a group of graphical user interfaces GUI according to one embodiment of the present application. [Figure 4(b)] FIG. 2 illustrates a group of graphical user interfaces GUI according to one embodiment of the present application. [Figure 4(c)] FIG. 2 illustrates a group of graphical user interfaces GUI according to one embodiment of the present application. [Figure 4(d)] FIG. 2 illustrates a group of graphical user interfaces GUI according to one embodiment of the present application. [Diagram 5] FIG. 13 illustrates another GUI according to an embodiment of the present application. [Figure 6] FIG. 13 illustrates another GUI according to an embodiment of the present application. [Figure 7] FIG. 13 illustrates another group of GUIs according to an embodiment of the present application. [Figure 8] FIG. 13 illustrates another group of GUIs according to an embodiment of the present application. [Figure 9] FIG. 13 illustrates another group of GUIs according to an embodiment of the present application. [Figure 10] FIG. 13 illustrates another GUI according to an embodiment of the present application. [Figure 11] 1 is a schematic flow chart of a parking method according to an embodiment of the present application. [Figure 12(a)] FIG. 13 illustrates another group of GUIs according to an embodiment of the present application. [Figure 12(b)] FIG. 13 illustrates another group of GUIs according to an embodiment of the present application. [Figure 13] FIG. 13 illustrates another GUI according to an embodiment of the present application. [Figure 14] 1 is a schematic flow chart of a method for enabling narrow lane assist functionality according to an embodiment of the present application. [Figure 15] FIG. 13 illustrates another GUI according to an embodiment of the present application. [Figure 16(a)] FIG. 2 is a schematic diagram of a parking area according to an embodiment of the present application. [Figure 16(b)] FIG. 2 is a schematic diagram of a parking area according to an embodiment of the present application. [Figure 16(c)] FIG. 2 is a schematic diagram of a parking area according to an embodiment of the present application. [Figure 17]FIG. 13 illustrates another GUI according to an embodiment of the present application. [Figure 18] FIG. 13 illustrates another GUI according to an embodiment of the present application. [Figure 19(a)] FIG. 13 illustrates another group of GUIs according to an embodiment of the present application. [Figure 19(b)] FIG. 13 illustrates another group of GUIs according to an embodiment of the present application. [Figure 20(a)] FIG. 13 illustrates another group of GUIs according to an embodiment of the present application. [Figure 20(b)] FIG. 13 illustrates another group of GUIs according to an embodiment of the present application. [Figure 20(c)] FIG. 13 illustrates another group of GUIs according to an embodiment of the present application. [Figure 20(d)] FIG. 13 illustrates another group of GUIs according to an embodiment of the present application. [Figure 21(a)] FIG. 13 illustrates another GUI according to an embodiment of the present application. [Figure 21(b)] FIG. 13 illustrates another GUI according to an embodiment of the present application. [Figure 22(a)] FIG. 13 illustrates another group of GUIs according to an embodiment of the present application. [Figure 22(b)] FIG. 13 illustrates another group of GUIs according to an embodiment of the present application. [Figure 22(c)] FIG. 13 illustrates another group of GUIs according to an embodiment of the present application. [Figure 22(d)] FIG. 13 illustrates another group of GUIs according to an embodiment of the present application. [Figure 23] 1 is a schematic flow chart of a parking method according to an embodiment of the present application. [Figure 24] FIG. 1 is a schematic block diagram of a parking device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0053] The following describes the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. In the description in the embodiments of the present application, " / " means "or" unless otherwise specified. For example, A / B can represent A or B. In this specification, "and / or" only describes the related relationship to describe related objects, and represents that three relationships may exist. For example, A and / or B can represent the following three cases: only A exists, both A and B exist, and only B exists.

[0054] In the embodiments of the present application, prefix terms such as "first" and "second" are used only to distinguish different described objects, and do not limit the location, order, priority, quantity, content, etc. of the described objects. For example, if the described object is a "parking area", the ordinal number before "parking area" in "first parking area" and "second parking area" does not limit the location or order of the "parking area". In conclusion, in the embodiments of the present application, the use of prefix terms such as ordinal numbers used to distinguish described objects does not constitute a limitation on the described objects. Please refer to the context description in the claims or embodiments for the description of the described objects, and the use of such prefix terms should not constitute an unnecessary limitation. In addition, in the description of this embodiment, unless otherwise specified, "plurality" means two or more than two.

[0055] 1 is a schematic functional block diagram of a vehicle 100 according to an embodiment of the present application. The vehicle 100 may include a sensing system 120, a display device 130, and a computing platform 150. The sensing system 120 may include several types of sensors that sense information about the environment around the vehicle 100. For example, the sensing system 120 may include a positioning system. The positioning system may be a global positioning system (GPS), or one or more of a BeiDou system or another positioning system, an inertial measurement unit (IMU), a lidar, a millimeter wave radar, an ultrasonic radar, or a camera device.

[0056] Some or all of the functions of the vehicle 100 may be controlled by a computing platform 150. The computing platform 150 may include processors 151 to 15n (n is a positive integer). A processor is a circuit having a signal processing capability. In one embodiment, a processor may be a circuit having a capability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which may be understood as a microprocessor), or a digital signal processor (DSP). In another embodiment, a processor may implement a particular function by using the logical relationships of a hardware circuit. The logical relationships of a hardware circuit may be fixed or reconfigurable. For example, a processor may be a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement some or all of the functions of the aforementioned units. In addition, the instruction may be a hardware circuit designed for artificial intelligence and can be understood as an ASIC, for example, a neural network processing unit (NPU), a tensor processing unit (TPU), or a deep learning processing unit (DPU). In addition, the computing platform 150 can further include a memory. The memory is configured to store instructions.Some or all of the processors 151 through 15n can invoke instructions in memory to implement corresponding functions.

[0057] The vehicle 100 may include an advanced driving assistant system (ADAS). The ADAS obtains information from around the vehicle by using multiple sensors (including, but not limited to, lidar, millimeter wave radar, camera devices, ultrasonic sensors, global positioning systems, and inertial measurement units) on the vehicle, and analyzes and processes the obtained information to implement functions such as obstacle sensing, target recognition, vehicle positioning, route planning, and driver monitoring / reminders, thus improving the safety, automation, and comfort of driving the vehicle.

[0058] FIG. 2 is a schematic diagram of the sensing ranges of various sensors. The sensors may include, for example, the lidar shown in FIG. 1, a millimeter wave radar, a camera device, and an ultrasonic sensor. The millimeter wave radar may be classified into a long-range radar and a medium / short-range radar. Currently, the sensing range of the lidar is about 80-150 m, the sensing range of the long-range millimeter wave radar is about 1-250 m, the sensing range of the medium / short-range millimeter wave radar is about 30-120 m, the sensing range of the camera lens is about 50-200 m, and the sensing range of the ultrasonic radar is about 0-5 m.

[0059] In terms of logical functions, an ADAS system usually includes three main functional modules: a sensing module, a decision-making module, and an execution module. The sensing module senses the surrounding environment of the vehicle body by using sensors, and inputs corresponding real-time data to the decision-making center. The sensing module mainly includes an on-board camera lens, an ultrasonic radar, a millimeter-wave radar, and a lidar. The decision-making module uses a computing device and an algorithm to make corresponding decisions based on the information obtained by the sensing module. After receiving a decision signal from the decision module, the execution module performs corresponding actions, such as driving, lane changing, steering, braking, or warning.

[0060] Under different autonomous driving levels (L0~L5), ADAS can implement different levels of autonomous driving assistance based on artificial intelligence algorithms and information acquired by multi-sensors. The aforementioned autonomous driving levels (L0~L5) are based on the level criteria of the Society of Automotive Engineers (SAE). L0 indicates no automation, L1 indicates driver assistance, L2 indicates partial automation, L3 indicates conditional automation, L4 indicates high automation, and L5 indicates full automation. The task of monitoring the road and responding to the road in L1~L3 is completed by the driver and the system, and the driver needs to take over the dynamic driving task. The driver can be completely transformed into a passenger in L4 and L5. Currently, the functions that can be implemented by ADAS mainly include, but are not limited to, adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, traffic warning / braking at forward intersections, traffic warning / braking at rear intersections, collision warning for forward vehicles, lane departure warning, lane keeping assist, collision prevention warning for rear vehicles, traffic sign recognition, traffic jam assist, and highway assist. It should be understood that the aforementioned functions may have specific modes at different autonomous driving levels (L0 to L5). A higher autonomous driving level indicates a more intelligent mode. For example, autonomous parking may include APA, RPA, and AVP. In the case of APA, the driver does not need to control the steering wheel, but still needs to control the throttle and brake of the vehicle. In the case of RPA, the driver can perform remote parking of the vehicle outside the vehicle via a terminal (e.g., a mobile phone). In the case of AVP, the vehicle can complete parking without the driver. In the corresponding autonomous driving levels, APA is approximately at the level of L1, RPA is approximately at the level of L2 to L3, and AVP is approximately at the level of L4.

[0061] As mentioned above, the current automatic parking technology has high requirements on the driver. For example, when the driver is driving the vehicle, if the attitude or position of the vehicle does not meet the requirements (e.g., significant lane violation), the vehicle cannot identify the parking space, the vehicle cannot enter the parking space due to the inaccurate determination of the vehicle, etc. As a result, the driver will directly miss the suitable parking space or opportunity, and the automatic parking efficiency is low.

[0062] In consideration of this, the embodiments of the present application provide a parking method and apparatus, and a vehicle, in which the vehicle can recommend parking modes, parking areas, and parking functions to a user based on the vehicle's pose and the driver's driving behavior, so as to help the user improve parking efficiency.

[0063] 3 is a schematic flowchart of a parking method 300 according to an embodiment of the present application. As shown in FIG. 3, the method 300 includes the following steps:

[0064] S310: Vehicle pose information is acquired.

[0065] The vehicle pose information may include vehicle position information and vehicle attitude information. The vehicle position information may be obtained by a positioning system in the sensing system 120 shown in FIG. 1, and the attitude information may be determined by using data collected by sensors such as a camera device, a lidar, a millimeter wave radar, an ultrasonic radar, and an IMU in the sensing system 120.

[0066] In one embodiment, the method 300 further includes obtaining one or more of vehicle parameter information, surrounding environment information, parking area information, and driving trajectory information.

[0067] For example, the vehicle parameter information includes, but is not limited to, the vehicle's body length, width, and wheelbase information.

[0068] For example, the surrounding environment information may include, but is not limited to, information regarding obstacles around the vehicle, such as the distance and angle between the vehicle and a pillar, road edge, road shoulder, or traffic cones (registered trademark) around the vehicle.

[0069] For example, the parking area information may include, but is not limited to, information such as the type of parking area around the vehicle, the size of the parking area, the location of the parking area, and the idle status of the parking area.

[0070] S320: Determine a parking mode based on the vehicle pose and / or the driver's driving behavior, where the parking mode may indicate that the vehicle is currently entering or leaving a parking area.

[0071] For example, it may be determined that the parking mode is to enter a parking area based on one or more of the following conditions:

[0072] (1) The vehicle is able to identify a parking space, but the vehicle is not in the parking space or has not fully entered the parking space.

[0073] (2) The vehicle switches from a state in which the vehicle is not in a parking space to a state in which the vehicle is entering one or more parking spaces (e.g., in the process of manually entering a parking space, the user does not move the vehicle into the parking space through multiple gear changes).

[0074] (3) The vehicle switches from a state where the vehicle is not in a parking space to a state where the vehicle is parked in the parking space, but the vehicle is not parked in the center of the parking space (e.g., the vehicle detects a user manually parking the vehicle in the parking space during the time period prior to the vehicle not being parked in the center of the parking space).

[0075] (4) Before the parking mode is determined, the vehicle detects that the vehicle has entered an automatic parking mode and actively or passively exits the automatic parking mode when the vehicle is not parked in a parking space.

[0076] The aforementioned gear change may be a process in which a user drives a vehicle to enter a parking area from the vehicle's current position. For example, in a process in which a user enters a vehicle into a certain parking area by switching to R gear, if the user can directly enter the vehicle into the parking area in R gear, it may indicate that the user can complete parking via one gear change. If the user cannot directly enter the vehicle into the parking area by switching to R gear, and the user needs to switch from R gear to D gear and drive the vehicle a distance, and then further needs to switch from D gear to R gear to enter the vehicle into the parking area, it may indicate that the user completes parking via two gear changes. By analogy, the more times a user switches between D gear and R gear, the more gear changes are performed by the user.

[0077] In one embodiment, if one or more of the aforementioned conditions are met and the speed of the vehicle is below a pre-set speed threshold, it may be determined that the parking mode is to enter a parking area.

[0078] For example, it may be determined that the parking mode is to exit a parking area based on one or more of the following conditions:

[0079] (1) The vehicle is able to identify the parking space, the vehicle is within the parking space, and is parked in the center of the parking space.

[0080] (2) When the vehicle is powered on and started for the first time, the vehicle is able to identify a parking space and the vehicle is within the parking space.

[0081] (3) The vehicle detects that the vehicle has entered an automatic exit mode before the parking mode has been determined, and the vehicle actively or passively exits the automatic exit mode when the vehicle has not been removed from the parking space.

[0082] (4) The vehicle detects that the vehicle body is within a parking space and that the vehicle body has not completely left the parking space after the user has driven the vehicle one or more times.

[0083] S330: Determine a recommended parking area based on the vehicle pose and / or the driver's driving behavior.

[0084] In one embodiment, in the entering state, the recommended parking area may be a recommended entering parking space (e.g., a ground parking space or a multi-storey parking space), and in the exiting state, the recommended parking area may be the exit direction and the corresponding virtual area where the vehicle will stop.

[0085] In one embodiment, for example, the driving area is on the left side of the vehicle. The recommended parking area may be the parking space with the shortest distance from the driver's line of sight to the right side of the vehicle's forward direction. If there is a recommended parking area on the right side of the vehicle's forward direction, the parking area on the right side is recommended preferentially. If there is no recommended parking area on the right side of the vehicle's forward direction, an available parking space on the left side is recommended.

[0086] 4(a) through 4(d) illustrate a group of graphical user interfaces (GUIs) according to one embodiment of the present application.

[0087] As shown in Fig. 4(a), when the vehicle drives close to a parking space, an inverse perspective mapping (IPM) image 401 and a rear view image 402 can be displayed by using a display. The IPM image includes information about the current vehicle and information about the parking space around the vehicle. When the vehicle detects that the current speed of the vehicle is below a preset speed threshold (e.g., 5km / h), the vehicle can display the GUI shown in Fig. 4(b) by using a display.

[0088] As shown in FIG. 4(b), the vehicle may display the recommended parking area by using a display.

[0089] As shown in FIG. 4(c), when displaying the recommended parking area by using the display, the vehicle may further display prompt information “Parking area recommended, perform automatic parking?”, “Automatic parking” control 403, “Remote parking” control 404, “Switch parking area” control 405, and “Cancel” control 406 to prompt the user to enter automatic parking mode.

[0090] In one embodiment, for example, the driving area is on the left side of the vehicle. When the driver manually enters the parking space, the vehicle pose, rear wheel steering, and surrounding available entrance parking space information (including the number of available entrance parking spaces, the type of parking spaces, surrounding obstacles, etc.) are obtained. If all surrounding vehicles enter from the rear of the vehicle, the probability that the current vehicle enters from the rear of the vehicle is (the number of vehicles entering from the rear of the vehicle / the total number of parking spaces) * 100%.

[0091] In one embodiment, the vehicle may prompt the user for the most highly recommended parking space based on the recommendation ratings of multiple available entry parking spaces.

[0092] For example, when the vehicle detects that the driver has shifted into R gear, the vehicle identifies all available vacant parking spaces in the current parking area and calculates the recommendation score C(x) of each available entry parking space.

[0093] For example, the recommendation level C(x) of an available entrance parking space is calculated as follows:

[0094] (1) Obtain current vehicle pose information and parking space information.

[0095] FIG. 4(d) is a schematic diagram of the relationship between the pose information of the vehicle and the parking space information in the vertical parking space. The center of the wheel rear axle of the vehicle is the coordinate origin O, and the midpoint of the outermost parking space line in the opening direction of each vacant parking space is selected (for example, the midpoint of the outermost parking space line in the opening direction of parking space 1 is P). The relative distance between the coordinate origin O and the parking space midpoint is set to D (when the vehicle is outside the parking space, D is positive, or when the vehicle is inside the parking space, D is negative). As shown in FIG. 4(d), the distance between the coordinate origin O and point P is D1. Correspondingly, it may be determined that the angle between PO and the direction of the wheel rear axle is θ1. In the parking process, the distance D1 and the angle θ1 change continuously because the vehicle moves continuously. In this way, the pose in the actual scenario and the relative distance between the vehicle and each parking space are determined.

[0096] For example, Table 1 shows the correspondence between D1 and the recommendation level.

[0097] [Table 1]

[0098] It should be understood that the above-mentioned correspondence between D1 and the recommendation level is only an example. The correspondence between D1 and the recommendation level may alternatively be expressed by using another value or function relationship. This is not limited in the embodiment of the present application.

[0099] For example, Table 2 shows the correspondence between θ1 and the recommendation level.

[0100] [Table 2]

[0101] It should be understood that the above-mentioned correspondence between θ1 and the recommendation level is only an example. The correspondence between θ1 and the recommendation level may alternatively be expressed by using another value or function relationship. This is not limited in the embodiment of the present application.

[0102] It should further be appreciated that a positive value of θ1 indicates that the deflection from the direction of the rear wheel axle to the direction of PO is a clockwise deflection.

[0103] (2) Obtain the steering direction of the inside steering wheel or the outside steering wheel of the vehicle based on the steering information of the steering wheel.

[0104] As shown in FIG. 4(d), the rear wheel steering angle θ2 of the vehicle may be the included angle between the steering direction of the inside steering wheel and the direction of the outermost parking space line in the parking space opening direction.

[0105] For example, Table 3 shows the correspondence between θ2 and the recommendation level.

[0106] [Table 3]

[0107] It should be understood that the above-mentioned correspondence between θ2 and the recommendation level is only an example. The correspondence between θ2 and the recommendation level may alternatively be expressed by using another value or function relationship. This is not limited in the embodiment of the present application.

[0108] It should be further appreciated that a positive value of θ2 indicates a clockwise deflection from the steering direction of the steering wheel towards the outermost parking space line in the parking space opening direction.

[0109] For example, the recommendation degree of a parking space may be calculated by configuring the weights of the relative distance D1, the host vehicle pose angle θ1, and the wheel steering angle θ2. For example, the weights of the relative distance D1, the host vehicle pose angle θ1, and the wheel steering angle θ2 are 50%, 20%, and 30%, respectively, and the recommendation degree of each exit area is 50%*C(D1)+20%*C(θ1)+30%*C(θ2). After the recommendation degree of each parking area is calculated, the parking area with the highest recommendation degree may be promoted to the user.

[0110] It should be understood that the above parameter weights are merely examples, which are not limiting in the embodiments of the present application.

[0111] It should be further understood that the recommendation level of the parking area is determined by using three parameters D1, θ1, and θ2. This is not limited in the embodiment of the present application. For example, the recommendation level of the parking area can alternatively be determined by using any one or two of the three parameters D1, θ1, and θ2.

[0112] The above determines the recommendation degree of the parking area according to the correspondence between each parameter and the recommendation degree and weight of each parameter. In this embodiment of the present application, the manner of calculating the recommendation degree C(x) can be further determined by collecting training samples (for example, the recommendation degree of each parking area determined by the user in the manual parking process, and the parameter information corresponding to each parking area).

[0113] For example, the process of collecting training samples may be as follows: When a driver drives a vehicle to arrive near a parking area, multiple parking areas (e.g., parking space 1, parking space 2, parking space 3, and parking space 4) are found. In this case, the driver may prioritize the multiple parking areas based on the environment. The driver may determine that the priorities of the multiple parking areas are, in descending order, parking space 1, parking space 2, parking space 3, and parking space 4.

[0114] In this case, the relative positional relationship between the vehicle and each parking space and the driving behavior of the driver in this case can be recorded separately to obtain parameter information corresponding to each parking space. Table 4 shows the correspondence between the parking space identifier, the parking space recommendation degree, and the parking space parameter information.

[0115] [Table 4]

[0116] It should be understood that the calculation process of (D2, θ3, θ4), (D3, θ5, θ6) and (D4, θ7, θ8) should refer to the above calculation process of D1, θ1 and θ2, and the details will not be described again in this specification.

[0117] Based on the linear regression model and principles, given N training samples, the optimal parameters α1, α2, α3, and b are found, which allows the model to better fit these training samples. Each parameter is normalized to obtain the parking space recommendation degree.

[0118]

number

[0119] In addition, the prediction error J(α1) of the parking area can be measured by using a cost function, which can be expressed as follows:

number

[0120] f(x1) is a predicted value, and y1 is a real value. The coefficient α1 can be obtained according to the least square method (similarly, α2 and α3 can be obtained). Based on this, the formula C(x) can be determined, and thus the recommendation degree of the parking space can be calculated. Specifically, when the vehicle is in any pose, the vehicle may calculate the recommendation degree of the available entrance parking spaces identified in the R gear, and prompt the driver for the parking area with the highest recommendation degree, or alternatively, prompt the driver for the recommendation degree for each available entrance parking space.

[0121] Correspondingly, when the vehicle is entered from the front of the vehicle, the coordinate origin may be determined as the center point of the front wheels of the vehicle, and the parking space with the highest recommendation degree under D gear is calculated. Correspondingly, the recommendation degrees of the parallel parking space and the diagonal parking space may be determined in the manner described above to recommend the target parking area.

[0122] 5 shows another GUI according to an embodiment of the present application. As shown in FIG. 5, the vehicle may display a recommended parking area by using a display based on the relative positional relationship between the vehicle and each of a plurality of parking areas and the user's driving behavior (the recommended parking area is displayed by using a dashed line).

[0123] In one embodiment, when a user repeatedly performs gear changes, if the vehicle detects that the user is switching between D gear and R gear, the vehicle may recommend both a parking area in front of the vehicle and a parking area in the rear of the vehicle.

[0124] 6 illustrates another GUI according to an embodiment of the present application. As shown in FIG. 6, the vehicle may target the recommended parking area when a portion of the vehicle enters the recommended parking area (the recommended parking area is indicated by a thick solid line).

[0125] FIG. 7 illustrates another group of GUIs according to an embodiment of the present application.

[0126] As shown in Fig. 7(a), when a vehicle enters a parallel parking space in a rear-entering manner, the vehicle may display a recommended parking area (dashed box 701 shown in Fig. 7(a)) by using the display based on the vehicle steering direction and the relative position between the vehicle and the parking space. When a part of the vehicle enters the recommended parking area (e.g., the distance between any position of the vehicle body and the recommended parking area is less than or equal to 30 cm) or when the vehicle enters the recommended parking area, the vehicle may target the recommended parking area (solid box 702 shown in Fig. 7(b)) by using the display.

[0127] FIG. 8 illustrates another group of GUIs according to an embodiment of the present application.

[0128] As shown in Fig. 8(a), when a vehicle enters a parallel parking space in a front-entering manner, the vehicle may display a recommended parking area (dashed box 801 shown in Fig. 8(a)) by using the display based on the vehicle body steering direction and the positional relationship between the vehicle and the parking space. When a part of the vehicle enters the recommended parking area (e.g., the distance between any position of the vehicle body and the recommended parking area is less than 30 cm) or when the vehicle enters the recommended parking area, the vehicle may target the recommended parking area (solid box 802 shown in Fig. 8(b)) by using the display.

[0129] In one embodiment, if the vehicle detects that the vehicle is entering a parking space or that the frequency with which the vehicle enters the parking space within a preset time is equal to or greater than a preset frequency, the vehicle may determine the parking space as a recommended parking area.

[0130] In one embodiment, if the user has selected a target parking area during a previous automatic parking and the vehicle has not been entered or has exited during the entry process, in this case the vehicle may determine by default the previously selected target parking area as the recommended parking area.

[0131] In one embodiment, when the vehicle detects that the driver is parking the vehicle outside of a perpendicular parking space and an oblique parking space, if the vehicle is exiting from the front of the vehicle, the parking direction may be determined based on the steering wheel steering and the vehicle body steering when the driver is in D gear. If the vehicle is parked from the rear of the vehicle, the parking direction may be determined based on the steering wheel steering and the vehicle body steering when the driver is in R gear. When the vehicle detects that the vehicle driven by the driver is exiting from a parallel parking space, the vehicle may determine that the forward direction in front of the vehicle is the exit direction.

[0132] Figure 9 shows another group of GUIs according to an embodiment of the present application. As shown in Figure 9, when a vehicle is exiting a vertical parking space in a front-of-vehicle exit manner, the vehicle may display the parking direction and parking area (as shown by the dashed box in Figure 9) by using a display based on the driver's steering wheel direction when the driver shifts into D gear.

[0133] S340: Determine parking related parameters.

[0134] In one embodiment, after the parking mode and the recommended parking area (or exit direction) are determined, the vehicle can plan information such as the parking path L1, the quantity of gear changes N1, and the parking duration T1.

[0135] S350: Determine whether the driver has difficulty performing parking based on parking-related parameters.

[0136] In one embodiment, if in S320 it is determined that the parking mode is that the vehicle is currently parked in a parking space, if one or more of the following parking conditions are met, the vehicle may determine that the current driver has difficulty entering, whereby the automatic parking control is displayed on the display and the user is prompted and guided to perform automatic parking.

[0137] (1) The driver's parking duration T2 is greater than or equal to the planned parking duration T1.

[0138] (2) The quantity N2 of gear changes is greater than or equal to the planned quantity N1 of gear changes.

[0139] (3) The total parking path L2 is greater than or equal to the planned parking path L1, or the driver's actual parking path deviates from the vehicle's planned path, and the deviation distance is not within the preset range [D1, D2].

[0140] (4) The target parking space is a narrow parking space (the distance between any position and an obstacle is less than 30 cm).

[0141] In one embodiment, once the parking-related parameters have been determined in S340, the vehicle may also directly prompt the user to use the automatic parking function to perform parking.

[0142] S360: If the driver has difficulty performing parking, prompt the user to use the automatic parking function.

[0143] FIG. 10 shows another GUI according to an embodiment of the present application. As shown in FIG. 10, when the vehicle detects that the driver has difficulty in parking, the vehicle can display a prompt box 1001. The prompt box 1001 includes prompt information "Parking difficulty detected, automatic parking is recommended", "Automatic parking" control 1002, "Remote parking" control 1003, and "Cancel" control 1004. When the vehicle detects the user's tapping operation of the "Automatic parking" control 1002, the vehicle can plan a parking path based on the current pose of the vehicle and the relative positional relationship between the current pose of the vehicle and the recommended parking area, and park the vehicle in the recommended parking area based on the planned parking path. When the vehicle detects the user's tapping operation of the "Remote parking" control 1003, the vehicle can be parked in the recommended parking area based on a parking command from a vehicle key or another terminal (e.g., a mobile phone).

[0144] After detecting that the driver has enabled the automatic parking function, the vehicle obtains the current gear information and plans a trajectory to reach the recommended parking area by using the current pose as a starting point, so that the vehicle can automatically enter or exit the parking space.

[0145] S370: If the driver has no difficulty in parking the vehicle, execute parking the vehicle based on the driver's operation.

[0146] For example, if the driver's parking duration T2 is less than the planned parking duration T1, the number of gear changes N2 is less than the planned number of gear changes N1, and the total parking path L2 is less than the planned parking path L1, the vehicle may not prompt the user to use the automatic parking function. The vehicle may be parked based on the driver's operation.

[0147] In one embodiment, when detecting that the user has completed parking, the vehicle can know the operations performed by the driver during parking (e.g., the path and speed during manual parking) to optimize the automatic parking style. For example, the default speed for automatic parking is v1, and the average speed of the vehicle controlled by the driver during multiple manual parkings is v2. The vehicle can update the default speed for automatic parking from v1 to v2. As another example, in the automatic parking process, the vehicle is in the center position in the parking area by default. During multiple manual parkings, the user controls the vehicle to be in the left position in the parking area. In this case, the vehicle may update the position of the vehicle in the parking area in the automatic parking process from the center position to the left position.

[0148] In one embodiment, during the manual or automated parking process, if the vehicle determines that the recommended parking area is a tight parking space, the vehicle may prompt the user to use a remote parking feature to park the vehicle.

[0149] In this embodiment of the present application, to help the driver park the vehicle, the parking mode and the parking area are more accurately recommended based on the relative position relationship between the vehicle and the parking area and the driving behavior of the user. If it is detected that the driver has difficulty in parking, the driver may be further prompted to select the automatic parking function. In this way, the manual parking ability and the automatic parking ability complement each other, helping the driver to smoothly switch from the manual parking ability to the automatic parking ability. This helps to improve the parking efficiency of the driver, and also helps to reduce the parking difficulty of the driver.

[0150] 11 is a schematic flowchart of a parking method 1100 according to an embodiment of the present application. As shown in FIG. 11, the method 1100 includes the following steps:

[0151] S1110: Vehicle pose information is acquired.

[0152] S1120: Determine a parking mode based on the vehicle pose and / or the driver's driving behavior, where the parking mode may indicate that the vehicle is currently entering or exiting a parking space.

[0153] S1130: Determine a recommended parking area based on the vehicle pose and / or the driver's driving behavior.

[0154] It should be understood that for S1110 to S1130, reference should be made to the above description of S310 to S330, and for the sake of brevity, the details will not be described again here.

[0155] S1140: Displaying an intelligent parking trajectory based on parking mode and recommended parking area.

[0156] In one embodiment, the vehicle can plan an automatic parking path based on the parking mode and the recommended parking area, and the vehicle can convert the automatic parking path into a corresponding wheel steering angle, driving distance, body coverage area, etc. It should be understood that the intelligent parking trajectory can be determined by parameters such as wheel steering angle, driving distance, and body coverage area.

[0157] In one embodiment, when the vehicle detects a user's operation to open the intelligent parking trajectory, the vehicle can display the intelligent parking trajectory by using the display.

[0158] In one embodiment, the vehicle can also automatically display intelligent parking trajectories based on the driver's driving behavior.

[0159] For example, the trigger conditions for automatically displaying the intelligent parking trajectory by the vehicle may include one or more of the following conditions:

[0160] (1) The vehicle predicts that it will collide with a surrounding obstacle or vehicle based on the current steering angle and driving speed.

[0161] (2) When entering a parking space, the vehicle predicts, based on the current steering angle, that after the vehicle is entered into the parking space, it will not be able to be parked in the center of the parking space or will not be able to enter the parking space.

[0162] After the intelligent parking trajectory is displayed by the vehicle, the driver can see the planned driving path, recommended gear, wheel steering, and driving distance in the IPM image and rear view image. The driver can drive the vehicle based on the recommended trajectory to ensure safe parking.

[0163] 12(a) and 12(b) show another group of GUIs according to one embodiment of the present application.

[0164] As shown in Fig. 12(a), the vehicle can display an IPM image 1201 and a rear view image 1202 by using a display. A dynamic predicted trajectory 1203 of the vehicle is displayed separately on the IPM image 1201 and the rear view image 1202. The dynamic predicted trajectory 1203 of the vehicle can be determined based on a driving behavior of a driver (e.g., the driver controls the rotation angle of the steering wheel). When the vehicle detects an operation by a user to enable a trajectory assistance function 1204, the vehicle may display a GUI shown in Fig. 12(b) by using a display.

[0165] As shown in Fig. 12(b), the vehicle can display the intelligent parking trajectory on the IPM image and the rear view image separately. For example, in the rear view image, the black solid line indicates the vehicle's dynamic predicted trajectory 1203, and the black dashed line indicates the intelligent parking trajectory 1205. The rear view image further includes information indicating the number of gear changes required for parking and the current number of gear changes (e.g., "2 gear changes are required and this is the first gear change now"), information about the current wheel steering angle, and information about the recommended wheel steering angle (e.g., "The current wheel steering angle is 30° and the recommended wheel steering angle is 45°"), information about the distance that needs to be traveled for the current gear change, and information about the distance traveled by the current vehicle (e.g., "The distance that needs to be traveled for the current gear change is 2m and the current traveled distance is 1m").

[0166] In the IPM image, the solid black line indicates the dynamic predicted trajectory of the vehicle, and the shaded area indicates the vehicle covered area when the vehicle drives based on the intelligent parking trajectory.

[0167] FIG. 13 illustrates another GUI according to an embodiment of the present application.

[0168] As shown in Fig. 13, when the vehicle detects that the vehicle cannot enter or exit the parking space based on the driver's driving behavior, and the vehicle detects a collision risk or the vehicle's pose is not straight after the vehicle enters the parking space, the vehicle can automatically display the intelligent parking trajectory. For example, when the vehicle detects a collision risk, the prompt information 1301 "collision risk detected, intelligent parking trajectory will be displayed" can be automatically displayed on the display, the vehicle's dynamic predicted trajectory, and the intelligent parking trajectory. In this way, the driver can complete parking based on the intelligent parking trajectory.

[0169] In one embodiment, when the intelligent parking trajectory includes multiple segments of a trajectory, the display may further display the number of gear changes, as well as the recommended trajectory and recommended distance during the current gear change.

[0170] In one embodiment, if the vehicle is in the recommended parking gear, the intelligent parking trajectory can be directly displayed by using the display, or if the vehicle is not in the recommended parking gear, the driver is prompted to switch to the correct gear.

[0171] When the driver parks the vehicle based on the intelligent parking trajectory or the vehicle performs automatic parking, the driver can observe the vehicle's dynamic trajectory and the intelligent parking trajectory, and rotate the steering wheel under braking or low-speed driving conditions to align the vehicle's dynamic trajectory with the intelligent parking trajectory. In one embodiment, when the vehicle's dynamic trajectory is aligned with the intelligent parking trajectory, or when the alignment degree between the vehicle's dynamic trajectory and the intelligent parking trajectory is equal to or greater than a preset value, the vehicle can notify the user that the vehicle's dynamic trajectory is aligned with the intelligent parking trajectory. For example, the vehicle may issue a voice prompt by using a speaker, or may notify the user that the vehicle's dynamic trajectory is aligned with the intelligent parking trajectory by using a color change of the ambient light.

[0172] The intelligent parking trajectory can be divided into multiple segments of the trajectory based on the number of gear changes. After a single segment of the trajectory is finished, the next segment of the local trajectory guidance path is automatically switched to and displayed. The driver repeats the above steps until the vehicle enters or exits the parking space. If the deviation between the vehicle's actual driving trajectory and the intelligent parking trajectory exceeds a threshold, the vehicle can recalculate the parking path and update the intelligent parking trajectory.

[0173] In one embodiment, the intelligent parking trajectory may be determined by the vehicle after the recommended parking area is determined. If the recommended parking area is canceled, the vehicle may stop displaying the intelligent parking trajectory.

[0174] In one embodiment, if the vehicle is unable to determine an intelligent parking trajectory based on the current parking intent and the recommended parking area, the vehicle may prompt the user to change the recommended parking area or check the surrounding environment.

[0175] In this embodiment of the present application, in scenarios where manual parking or autonomous driving cannot be initiated, the intelligent parking trajectory can be planned based on the recommended parking area and displayed by using images, assist the driver to obtain the driving path by using correct guidance, and control the vehicle to enter or exit the parking space.

[0176] The above describes a technical solution for providing an intelligent parking trajectory during parking with reference to Figures 11 to 13. The following describes a technical solution for providing a narrow lane assist function when a vehicle drives on a narrow road with reference to Figures 14 and 15.

[0177] 14 is a schematic flowchart of a method 1400 for enabling narrow lane assist function according to an embodiment of the present application. As shown in FIG. 14, the method 1400 includes the following steps:

[0178] S1410: Collect information about the surrounding environment and road data.

[0179] For example, the vehicle can collect information about the surrounding environment and road data and determine the distance between the wheels and the road edges or obstacles on either side, so that the current road width can be determined based on that distance.

[0180] S1420: Determine whether the current road is a narrow road.

[0181] Based on the collected information about the surrounding environment and road data, when the vehicle determines that the vehicle is currently on a narrow road and needs to drive on the narrow road, the narrow lane assist function is automatically called. The vehicle can automatically plan the narrow lane assist function to safely drive on the narrow road. The vehicle can further convert the narrow lane assist trajectory into corresponding wheel steering angle, driving distance, and predicted body coverage area based on the road width, surrounding obstacles, and the parameters of the vehicle body, and display the information on the display to guide the driver to drive.

[0182] For example, narrow roads may be classified into parallel narrow lanes and perpendicular narrow lanes.

[0183] For example, if the road width is b and the vehicle's wheel distance is a, when b>4m, the vehicle can determine that the current road is a non-narrow lane and can drive normally.

[0184] For example, when b<1.4a, the vehicle may determine that the road ahead is narrow and the vehicle cannot travel.

[0185] For example, when 1.4a≦b≦4m, the vehicle can determine that the current road is parallel narrow lanes, so that driving route planning and reminding can be performed based on pause. When the vehicle is running and the vehicle speed is below 15km / h, the narrow lane assist function is activated. The vehicle can detect road conditions in the range of vehicle driving direction L1 to L2 (e.g., 100-200m).

[0186] For example, when the vehicle identifies that the straight road section ends and there is a left or right turn direction, it may determine that the current road is a vertical narrow lane. For example, when the vehicle's wheelbase is d, perpendicular to the width of the road surface of the current road, and is equal to or greater than d+x (for example, the value range of x may be 0.4-1m), the vertical narrow lane can be driven, otherwise the user is prompted that the vertical narrow lane cannot be driven.

[0187] In one embodiment, if the current road is not a narrow road, the vehicle may not prompt the user and the vehicle may navigate the road normally based on the user's driving behavior.

[0188] S1430: Prompt user for vehicle dynamic predicted trajectory and narrow lane auxiliary trajectory.

[0189] FIG. 15 shows another GUI according to an embodiment of the present application. As shown in FIG. 15, when the vehicle determines that the vehicle is currently traveling on a narrow road, the vehicle can display prompt information 1501 "narrow road crossing detected, narrow lane auxiliary trajectory is provided", the dynamic predicted trajectory of the vehicle, and the narrow lane auxiliary trajectory by using a display. For example, in FIG. 15, the black solid line shows the dynamic predicted trajectory of the vehicle, the black dashed line shows the narrow lane auxiliary trajectory, and the shaded area shows the vehicle body coverage area when the vehicle travels based on the narrow lane auxiliary trajectory. The driver can rotate the steering wheel to control the brake and throttle to align the dynamic predicted trajectory of the vehicle with the narrow lane auxiliary trajectory, so that the vehicle travels on the narrow road.

[0190] In one embodiment, the vehicle can estimate the rendezvous position based on the moving speed of dynamic obstacles (e.g., oncoming vehicles or people) in the road. A driving trajectory is planned based on the preset rendezvous position, and the planned driving trajectory is used to prompt the driver on a suitable driving route, or prompt the driver to slow down and stop, and display suitable parking avoidance points.

[0191] In one embodiment, when the vehicle detects that the user has shifted into R gear to move the vehicle in reverse, the vehicle may also identify parallel narrow lanes or perpendicular narrow lanes. Once parallel narrow lanes and perpendicular narrow lanes are identified, a driving trajectory may be planned for the user.

[0192] In one embodiment, when the vehicle detects that it is about to travel in a vertical narrow lane, the vehicle can assist in determining the driver's steering intent by using indicator lights. For example, when the vehicle detects that the driver has turned on the left indicator light, the vehicle plans a corresponding path to the left and displays a narrow lane auxiliary trajectory based on information about the lane in which the vehicle is located, the pose, and the vertical lane.

[0193] In one embodiment, the vehicle can plan a narrow lane U-turn trajectory for the driver when it detects that the vehicle is about to travel in a parallel narrow lane and detects that the driver has turned on the left indicator light, and the vehicle can identify the distance between the wheels and the road edge and plan a trajectory for pulling over when it detects that the vehicle is about to travel in a parallel narrow lane and detects that the driver has turned on the right indicator light.

[0194] In this embodiment of the present application, when the vehicle travels on a narrow road, the correct driving path can be automatically calculated and intelligent guidance is provided, so that the driver can quickly correct the direction and distance through comparative guidance, which ensures safe driving.

[0195] The above describes the parking technical solution provided in the embodiments of the present application with reference to the embodiments, and the technical solution enabling the narrow lane assist function when the vehicle is driving on a narrow road. The following describes the parking pose abnormality detection and parking pose automatic adjustment technical solution provided in the embodiments of the present application with reference to the accompanying drawings.

[0196] When the vehicle enters the parking area, the vehicle can automatically monitor the parking posture of the vehicle in the parking area. Based on the data collected by sensors such as radar and camera lenses, the vehicle can identify and determine whether a significant lane violation has been committed against the vehicle near the leaning, obstacle / obstacle vehicle, or the vehicle door cannot be opened.

[0197] In one embodiment, the vehicle can use the deviation distance between the center point of the vehicle projected on the ground and the center point of the parking area, the rotation angle between the central axis of the vehicle projected on the ground and the central axis of the parking area, and the distance between any position of the vehicle body and surrounding obstacles / surrounding obstacle vehicles.

[0198] For example, each of Fig. 16(a) to Fig. 16(c) is a schematic diagram of a parking area. As shown in Fig. 16(a), the length of the parking space is 5.3 m, the width is 2.5 m, the black solid line is the parking space line, the area 0.3 m inside from two sides of the parking space line is the area where the vehicle is parked in the parking space, and the area where the vehicle can be detected not to be in the center by monitoring, and the shaded area is the central parking area. The coordinates of the center point of the vehicle are (x1, y1), the coordinates of the center point of the parking area are (x2, y2), and the included angle between the vehicle central axis and the central axis of the parking area is θ. If the distance between the center point of the vehicle projected on the ground and the center point of the parking area is less than or equal to a first preset difference (for example, the first preset difference is 0.3 m), and the included angle θ is less than or equal to a preset angle (for example, 3°), it is determined that the vehicle is parked in the center.

[0199] In one embodiment, if the distance between the center point of the vehicle projected on the ground and the center point of the parking area is greater than a preset difference, the vehicle may determine that the current parking pose of the vehicle is abnormal.As shown in Fig. 16(a), if the distance of the projection of the connecting line in the y-axis direction is greater than a second preset difference (for example, the second preset difference is 0.2), the vehicle may determine that the current parking pose is abnormal and the deviation between the front and rear is obvious.

[0200] As shown in FIG. 16(b), if the distance of the projection of the distance in the x-axis direction is greater than a third preset difference (for example, the third preset difference is 0.2 cm), the vehicle may determine that the current parking pose is abnormal and the left and right deviation is obvious.

[0201] As shown in FIG. 16(c), if the vehicle determines that the included angle θ is 10°, the vehicle may determine that the current parking pose is abnormal and that the vehicle is clearly tilted.

[0202] In one embodiment, once the vehicle determines that the parking pose is normal, there may be no reminder on the display and the driver may leave the vehicle. Alternatively, once the vehicle determines that the parking pose is normal, the display may show the parking space in green, prompting the driver that the parking space is normal.

[0203] In one embodiment, when the vehicle determines that the parking pose is abnormal, the abnormal status of the vehicle can be displayed by using a display so that the driver perceives the abnormal scenario. In addition, if the driver is still in the vehicle, the display can be used to prompt the driver to perform an automatic pose adjustment.

[0204] FIG. 17 shows another GUI according to an embodiment of the present application. As shown in FIG. 17, when the vehicle detects that the current parking pose is abnormal, the vehicle may display prompt information 1701 “The vehicle is parked abnormally in the parking space. Tap Start to perform one-click adjustment”, “Start” control 1702, and “Cancel” control 1703 by using the display. When the vehicle detects the user tapping the “Start” control 1702, the vehicle can select the current parking area as the target parking area and automatically plan a parking trajectory for center parking. After the driver releases the brake, the vehicle can adjust the parking pose of the vehicle by controlling the brake, throttle, and steering wheel based on the parking trajectory for center parking, so that the vehicle is parked in the center of the parking area.

[0205] In one embodiment, the vehicle can determine whether the driver or passenger can conveniently exit the vehicle after the vehicle is entered based on the type of the current parking area and the distance between the vehicle and the obstacle (for example, if the distance between the vehicle door and the obstacle is greater than 30 cm, the driver or passenger can be considered to be able to exit conveniently). If the driver or passenger can conveniently exit the vehicle, the vehicle automatically adjusts to the center position of the parking area, and then the automatic parking ends. If the driver or passenger cannot conveniently exit the vehicle, when the vehicle detects that the current parking pose is abnormal and the user selects to automatically adjust the parking pose, the vehicle can prompt the user that the vehicle should be exited from the parking area to a position where the vehicle door can be opened, and prompt the user to exit at that position. When the vehicle detects that the user in the vehicle has exited and closed the vehicle door, the vehicle is automatically entered into the parking area.

[0206] FIG. 18 shows another GUI according to an embodiment of the present application. As shown in FIG. 18, when the vehicle detects that the current parking pose is abnormal and determines that the driver or passenger cannot easily get off the vehicle, the vehicle may display prompt information 1801 "The vehicle door is restricted from being opened. Please drive the vehicle out of the parking space and close the vehicle door after getting off the vehicle. After the vehicle door is closed for 5 seconds, the vehicle will enter the parking space again", "OK" control 1802, and "Cancel" control 1803 by using the display. When the vehicle detects the user's tapping operation of the "OK" control 1802, the vehicle can drive away from the parking area after receiving the user's driving command. After the vehicle detects that the user has got off the vehicle and closed the vehicle door, the vehicle can perform automatic parking and park in the center of the parking area.

[0207] 19(a) and 19(b) show another group of GUIs according to an embodiment of the present application. As shown in FIG. 19(a), when the vehicle detects that the current parking pose is abnormal and determines that the driver or passenger cannot easily get off, the vehicle may display prompt information 1901 "The vehicle door is restricted from being opened. After OK is tapped, the vehicle will automatically leave the parking space. After the vehicle stops, please get off and close the vehicle door. After the vehicle door is closed for 5 seconds, the vehicle will enter the parking space again", "OK" control 1902, and "Cancel" control 1903 by using the display. As shown in FIG. 19(b), when the vehicle detects the user's operation of tapping the "OK" control 1902, the vehicle can drive away from the parking space and park in a position where the vehicle door is easy to open. The vehicle may further display prompt information 1904 "Please get off the vehicle, close the vehicle door, and enter the parking space again after the vehicle door is closed for 5 seconds" by using the display. After the vehicle detects that the user has exited the vehicle and closed the vehicle door, the vehicle can perform automatic parking and park in the center of the parking area.

[0208] In one embodiment, after the vehicle drives out of a parking space and parks in a position where the vehicle door is likely to be opened, if it is detected that the driver or passenger does not exit within a preset duration (e.g., 20 seconds), the vehicle may continue to perform automatic parking. In one embodiment, if the distance between the driver's side vehicle door and an obstacle is less than or equal to a preset distance (e.g., 30 cm), the vehicle may be parked on the right side by default.

[0209] In one embodiment, if the vehicle determines that the driver or passenger cannot conveniently exit the vehicle, the vehicle may further directly prompt the user to use the remote parking feature.

[0210] In one embodiment, when a driver leaves the vehicle when the current parking pose is abnormal, the vehicle can send prompt information to the user's mobile terminal, which prompts the user to adjust the vehicle pose via remote control.

[0211] 20(a) through 20(d) show another group of GUIs according to one embodiment of the present application.

[0212] As shown in Fig. 20(a), after receiving the prompt information sent by the vehicle, the mobile phone can display a prompt window 2001, which includes the prompt information "The vehicle is abnormally parked in the parking space. One-click intelligent adjustment is recommended to avoid the risk of scuffing and violations". When the mobile phone detects a user's tapping operation on the prompt window 2001, the mobile phone can display a GUI shown in Fig. 20(b).

[0213] As shown in Fig. 20(b), the mobile phone can display a display interface for automatic parking. The display interface includes prompt information "Significant lane violations while parking are illegal and may cause the risk of vehicle scraping. Tap the button below to perform one-click adjustment" and a "Start Adjustment" control 2002. When the mobile phone detects the user's tapping of the "Start Adjustment" control 2002, the mobile phone can display the automatic parking process of the vehicle.

[0214] As shown in Fig. 20(c), the mobile phone can display a display interface for automatic parking of the vehicle. The display interface can display information regarding adjustment of the parking pose of the vehicle, information regarding the parking area, prompt information "re-enter parking space", and a "pause" control 2003.

[0215] In one embodiment, when the mobile phone detects a user tapping the “pause” control 2003, the mobile phone can send instruction information to the vehicle, the instruction information indicating that the vehicle should stop automatic parking. In response to receiving the instruction information, the vehicle can control the vehicle to stop moving.

[0216] As shown in Fig. 20(d), after the vehicle completes the parking pose adjustment, the vehicle can indicate on the mobile phone that the automatic parking is completed. The mobile phone can display another display interface of the automatic parking of the vehicle. The display interface includes the prompt information "The vehicle is re-entering the parking space, and the vehicle is now centered".

[0217] In this embodiment of the present application, the vehicle comprehensively considers the abnormal parking pose and whether the user in the vehicle can easily get off the vehicle, and provides the driver with automatic adjustment functions and clear status prompts, including central adjustment, reserved drop-off position, automatic entry after leaving the vehicle, and remote control adjustment. This helps the driver adjust the parking pose more easily, saves time and energy, and avoids the cases of rubbing another vehicle, violating the law, being unable to get off the vehicle, or blocking another vehicle.

[0218] With reference to Figure 16(a) to Figure 20(d), the above describes the process of adjusting the parking pose of a vehicle according to an embodiment of the present application. With reference to the accompanying drawings, the following describes the process of switching between automatic parking and remote parking in the parking process provided in an embodiment of the present application.

[0219] When the vehicle enters a parking space, the parking mode can be actively switched from automatic parking to remote parking. For example, after the vehicle detects that the driver has started automatic parking, the vehicle detects an operation to interrupt automatic parking in the automatic parking process, and prompts the user to complete parking via remote parking by using a display. When the vehicle detects that the user has decided to switch to remote parking, and detects that the user in the vehicle has left the vehicle and the vehicle door has been closed, the vehicle can receive control from the mobile terminal to continue completing the current parking by using remote parking, and enter the vehicle into the selected target parking space.

[0220] In one embodiment, after detecting that the user has initiated automatic parking, the vehicle can identify whether it is convenient to open the vehicle door when the vehicle is parked in the target parking area. If it is inconvenient to open the vehicle door, the vehicle can prompt the driver to switch to remote parking by using a display. In one embodiment, in the automatic parking prediction path planned by the vehicle, the vehicle can automatically brake at the final position where the vehicle door is easy to open, and prompt the user to switch to remote parking by using a display.

[0221] In one embodiment, in the process of the vehicle detecting that the user has manually parked the vehicle in the target parking area, if it is identified that it is inconvenient to open the vehicle door when the vehicle is parked in the target parking area, the vehicle can prompt the user to switch to remote parking by using the display.

[0222] 21(a) and 21(b) show another GUI according to an embodiment of the present application.

[0223] As shown in Fig. 21(a), in the process of a user parking a vehicle in a recommended parking area, the vehicle detects that it is inconvenient to open the vehicle door in the target parking area. In this case, the vehicle can use the display to display information about the recommended parking area, prompt information "After parking, the vehicle door is restricted from being opened, and remote parking is recommended", "Remote parking" control 2101, and "Cancel" control 2102. When the vehicle detects the user tapping "Remote parking" 2101, the vehicle can receive a parking command from a mobile terminal (e.g., a mobile phone or a vehicle key).

[0224] As shown in Fig. 21(b), the mobile phone can display a display interface for remote parking. The display interface includes prompt information "tap START to continue parking" and a "START" control 2103. When the mobile phone detects a user tapping the "START" control 2103, the mobile phone can send a parking command to the vehicle, so that the vehicle can park in the target parking area based on the parking command.

[0225] In this embodiment of the present application, the switching steps and operation costs between automatic parking and remote parking are simplified, so that the parking experience can be more seamless and smooth, and the dilemma that the vehicle cannot be dismounted and re-parked is avoided. In addition, the parking mode is recommended in a more intelligent manner in time, and clear operation instructions are provided on the interface, which helps to reduce the learning cost.

[0226] In one embodiment, after the vehicle is parked in the parking space, the mobile terminal can further perform intelligent parking reminding based on the distance between the mobile terminal and the vehicle.

[0227] For example, after the vehicle is parked in a narrow parking space, the mobile terminal can receive prompt information sent by the vehicle, where the prompt information indicates that the parking space currently parked by the vehicle is a narrow parking space. If the distance between the mobile terminal and the vehicle is less than or equal to a preset distance (e.g., 50 m), or if the mobile terminal carried by the user will reach the vehicle after a preset duration (e.g., 20 seconds), the mobile terminal can prompt the user to use the parking function.

[0228] 22(a) through 22(d) show another group of GUIs according to one embodiment of the present application.

[0229] 22(a), when the mobile phone detects that the distance between the mobile phone and the vehicle is less than or equal to 50 m, the mobile phone can display a prompt box 2201, which includes prompt information “The parking space is a narrow parking space, and one-click automatic exit is enabled.” When the mobile phone detects a user tapping the prompt box 2201, the mobile phone can display a display interface for remote parking.

[0230] As shown in FIG. 22(b), in response to a detected user tapping on control 2202, the mobile phone may prompt the user with a “select an exit direction,” “exit left” control 2202, and an “exit right” control 2203.

[0231] As shown in FIG. 22(c), when the mobile phone detects the user tapping the control 2203 to exit to the right, the mobile phone can send a parking command to the vehicle, and the parking command commands the vehicle to exit to the right. In response to receiving the parking command, the vehicle can automatically start to exit to the right. In addition, the vehicle can further send information such as the parking trajectory of the vehicle, the pose information of the vehicle, and the surrounding environment to the mobile phone in real time. In response to receiving the information sent by the vehicle, the mobile phone can display the parking trajectory of the vehicle, the surrounding environment information, etc. through a display interface.

[0232] As shown in Fig. 22(d), after the vehicle has completed leaving the parking lot, the vehicle can transmit instruction information to the mobile phone indicating that the vehicle has left the parking lot. In response to receiving the instruction information, the mobile phone can prompt the user that the vehicle has left the parking lot.

[0233] In one embodiment, the vehicle can further set a parking time period [t1, t2] based on the user's daily vehicle usage time period (e.g., the time period the vehicle is removed). During this time period, if the distance between the mobile terminal and the vehicle is equal to or less than the preset distance, the mobile terminal can prompt the user to use the remove function. In one embodiment, the vehicle can also be automatically removed from the parking space when it detects that the distance between the mobile terminal and the vehicle is equal to or less than the preset distance within the time period.

[0234] In this embodiment of the present application, the mobile terminal can remind the user to use the automatic parking function based on the distance between the mobile terminal and the vehicle. This can improve the usage of remote parking. In addition, the time that the user walks to the vehicle is used to start and exit the vehicle from the parking space so that the user can directly board the vehicle when he arrives at the parking space. This saves time and reduces the waiting time of the user.

[0235] 23 is a schematic flowchart of a parking method 2300 according to an embodiment of the present application. As shown in FIG. 23, the method 2300 includes the following steps:

[0236] S2301: Information regarding a plurality of parking areas is obtained.

[0237] Optionally, before the step of obtaining information about a plurality of parking areas, the method further includes a step of determining a parking mode of the vehicle based on the relative positional relationship and a third driving behavior of the user, the parking mode including a step of entering the parking area or a step of exiting the parking area.

[0238] For example, the third driving behavior may include, but is not limited to, one or more of the following: gear information, steering wheel steering information, information regarding whether the vehicle was powered on within a first preset duration before the recommended parking area is determined, and the automatic parking mode the vehicle is in before the recommended parking area is determined.

[0239] For example, it may be determined that the parking mode is to enter a parking area based on one or more of the following conditions: the vehicle is able to identify a parking space but the vehicle is not in the parking space or the vehicle is not fully parked in the parking space; the vehicle switches from a state where the vehicle is not in a parking space to a state where the vehicle is entering one or more parking spaces (e.g., in the process of manually entering a parking space, the user does not enter the vehicle into the parking space via multiple gear changes); the vehicle switches from a state where the vehicle is not in a parking space to a state where the vehicle is entered into a parking space but the vehicle is not parked in the center of the parking space (e.g., the vehicle detects a user manually entering the parking space during a time period prior to the vehicle being parked in the center of the parking space); before the parking mode is determined, the vehicle detects that the vehicle has entered an automatic entry mode and actively or passively exits the automatic entry mode when the vehicle is not entered into a parking space.

[0240] As another example, the parking mode may be determined to be to exit a parking area based on one or more of the following conditions: the vehicle is able to identify a parking space and the vehicle is within the parking space and is center parked; the vehicle is able to identify a parking space and the vehicle is within the parking space when the vehicle is powered on and started for the first time; the vehicle detects that the vehicle entered an automatic exit mode before the parking mode was determined and the vehicle actively or passively exits the automatic exit mode when the vehicle has not been exited from the parking space; the vehicle is within a parking space and the vehicle detects that the vehicle has not completely left the parking space after the user has driven the vehicle one or more times.

[0241] Optionally, prior to the step of determining the parking mode of the vehicle, the method further comprises the step of determining that a speed of the vehicle is less than or equal to a preset speed threshold.

[0242] S2302: The relative positional relationship between the vehicle and each of the plurality of parking areas is acquired.

[0243] Optionally, the relative position relationship further includes information regarding a distance D1 between the vehicle and each parking area, and an included angle θ1 between the direction of the second side of the vehicle and a connecting line between the wheel center point of the second side and the center point of the parking space line of the first side, where the first side and the second side correspond to the direction in which the vehicle enters the parking area.

[0244] It should be understood that the description of the information regarding the distance D1 and the included angle θ1 should be referred to the description of the above embodiment, and the details will not be described again in this specification.

[0245] S2303: Recommend a first parking area to the user based on the relative position relationship and the first driving behavior of the user, where the multiple parking areas include the first parking area.

[0246] Optionally, the method further includes a step of recommending a second parking area to the user based on the relative position relationship and a second driving behavior of the user, wherein the plurality of parking areas includes the second parking area.

[0247] Optionally, the first driving action includes first gear information of the vehicle and first steering information of a steering wheel of the vehicle, the first steering information of the steering wheel corresponding to a first steering direction of the wheels, and the parking mode is entering a parking area, and the step of recommending a first parking area to the user based on the relative positional relationship and the first driving action of the user includes a step of recommending a first parking area to the user based on the first gear information and an included angle θ2 between the first steering direction and a direction of a first side of each parking area, where the first side corresponds to a direction in which the vehicle is entering the parking area.

[0248] It should be understood that the description of the included angle θ2 should refer to the description of the above embodiment, and the details will not be described again in this specification.

[0249] Optionally, the method further comprises determining information regarding a parking trajectory from a current position of the vehicle to the first parking area based on a pose of the vehicle and information regarding the first parking area, and prompting a user for the information regarding the parking trajectory.

[0250] Optionally, the information about the parking trajectory includes one or more of a number of planned gear changes, a planned parking path, and a planned parking duration from the vehicle's current position to the first parking area. The method further includes prompting the user to use the automatic parking function when one or more of the following conditions are met: detecting that a number of gear changes of the user in the process of driving from the current position to the first parking area is equal to or greater than the number of planned gear changes, detecting that a length of the driving path of the vehicle from the current position to the first parking area is equal to or greater than the length of the planned parking path, or detecting that a duration of parking of the vehicle from the current position to the first parking area is equal to or greater than the planned parking duration.

[0251] Optionally, the method further includes, when the vehicle is parked in the first parking area and the vehicle is not parked in the center of the first parking area, prompting the user that the vehicle is not parked in the center of the first parking area or prompting the user to use an automatic parking function.

[0252] An embodiment of the present application further provides an apparatus for performing any one of the aforementioned methods, for example the apparatus including a unit (or means) configured to perform the steps performed by the vehicle in any one of the aforementioned methods.

[0253] FIG. 24 is a schematic block diagram of a parking device 2400 according to one embodiment of the present application. As shown in FIG. 24, the device 2400 includes: An acquisition unit 2401 configured to acquire information regarding a plurality of parking areas, An acquisition unit 2401, further configured to acquire a relative positional relationship between the vehicle and each of the plurality of parking areas; A recommendation unit 2402 configured to recommend a first parking area to a user based on the relative position relationship and a first driving behavior of the user, where the plurality of parking areas includes the first parking area; Includes.

[0254] Optionally, the recommendation unit 2402 is further configured to recommend a second parking area to the user based on the relative positional relationship and a second driving behavior of the user, where the plurality of parking areas includes the second parking area.

[0255] Optionally, the apparatus 2400 further includes a first determination unit configured to determine a parking mode of the vehicle based on the relative positional relationship and a third driving behavior of the user before the acquisition unit acquires information regarding the plurality of parking areas, where the parking mode includes entering the parking area or exiting from the parking area.

[0256] Optionally, the first driving behavior includes first gear information of the vehicle and first steering information of a steering wheel of the vehicle, the first steering information of the steering wheel corresponding to a first steering direction of the wheels, the parking mode is entering a parking area, and the recommendation unit is specifically configured to recommend the first parking area to the user based on the first gear information and an included angle between the first steering direction and a direction of a first side of each parking area, the first side corresponding to the direction in which the vehicle is entered into the parking area.

[0257] Optionally, the relative position relationship further includes information regarding the distance between the vehicle and each parking area and the included angle between the direction of the second side of the vehicle and a connecting line between the wheel center point of the second side and the center point of the parking space line of the first side, the first side and the second side corresponding to the direction in which the vehicle enters the parking area.

[0258] Optionally, the first determining unit is further configured to determine, before determining the parking mode of the vehicle, that a speed of the vehicle is less than or equal to a preset speed threshold.

[0259] Optionally, the apparatus further includes a second determining unit configured to determine information regarding a parking trajectory from a current position of the vehicle to the first parking area based on a pose of the vehicle and information regarding the first parking area, and a first prompting unit configured to prompt a user for the information regarding the parking trajectory.

[0260] Optionally, the information about the parking trajectory includes one or more of a number of planned gear changes, a planned parking path, and a planned parking duration from the vehicle's current position to the first parking area, and the first prompting unit is further configured to prompt the user to use the automatic parking function when one or more of the following conditions are met: detecting that the number of gear changes of the user in the process of driving from the current position to the first parking area is equal to or greater than the number of planned gear changes; detecting that the length of the driving path of the vehicle from the current position to the first parking area is equal to or greater than the length of the planned parking path; or detecting that the duration of parking of the vehicle from the current position to the first parking area is equal to or greater than the planned parking duration.

[0261] Optionally, the apparatus further includes a second prompting unit configured to, when the vehicle is parked in the first parking area and the vehicle is not parked in the center of the first parking area, prompt the user that the vehicle is not parked in the center of the first parking area or prompt the user to use the automatic parking function.

[0262] The acquisition unit may be configured to acquire image information from an image sensor (e.g., a camera lens). The recommendation unit may be configured to control a display device to display information about the recommended parking area. Alternatively, the recommendation unit may be configured to control an audio module (e.g., a speaker) to play audio information to prompt the user with information about the recommended parking area.

[0263] It should be understood that the division into units in the above-mentioned device is merely a logical division of functions. In actual implementation, all or some of the units may be integrated into one physical entity or may be physically separated. In addition, the units in the device may be implemented in the form of calling software by a processor. For example, the device includes a processor, the processor is connected to a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to perform any one of the above-mentioned methods or functions of the units in the device. For example, the processor is a general-purpose processor, such as a CPU or a microprocessor, and the memory is a memory in the device or a memory outside the device. Alternatively, the units in the device may be implemented in the form of a hardware circuit, and the functions of some or all of the units may be implemented by designing a hardware circuit. The hardware circuit can be understood as one or more processors. For example, in one embodiment, the hardware circuit is an ASIC, and the functions of some or all of the units are implemented by designing logical relationships between elements in the circuit. As another example, in another embodiment, the hardware circuit may be implemented by using a PLD. An FPGA is used as an example. The FPGA may include a number of logic gate circuits, and the connections between the logic gate circuits are configured by using a configuration file to implement some or all of the functions of the above-mentioned units. All of the units of the above-mentioned device may be implemented in the form of calling software by a processor or in the form of a hardware circuit, or some of the units may be implemented in the form of calling software by a processor and the remaining units may be implemented in the form of a hardware circuit.

[0264] In this embodiment of the application, the processor is a circuit having signal processing capabilities. In one embodiment, the processor may be a circuit having the ability to read and execute instructions, such as a CPU, a microprocessor, a GPU, or a DSP. In another embodiment, the processor can perform a specific function by using the logical relationships of a hardware circuit, which are fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an ASIC or a PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement a hardware circuit configuration can be understood as the process of the processor loading instructions to implement some or all of the functions of the aforementioned units. In addition, the processor may be a hardware circuit designed for artificial intelligence, which may be understood as an ASIC, such as an NPU, a TPU, or a DPU.

[0265] It will be appreciated that the units in the aforementioned apparatus may be configured as one or more processors (or processing circuits) for performing the aforementioned methods, for example as a CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0266] In addition, all or some of the units in the aforementioned devices may be integrated or implemented independently. In one embodiment, these units are integrated and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor configured to perform any one of the aforementioned methods or to perform the functions of the units of the device. The type of the at least one processor may vary, and may include, for example, a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0267] An embodiment of the present application further provides an apparatus, the apparatus including a processing unit and a storage unit, the storage unit configured to store instructions, and the processing unit executes the instructions stored in the storage unit to enable the apparatus to perform the method or steps performed in the aforementioned embodiments.

[0268] Optionally, if the device is in a vehicle, the processing unit may be a processor 151 to 15n shown in FIG.

[0269] An embodiment of the present application further provides a vehicle. The vehicle may include the device 2400.

[0270] An embodiment of the present application further provides a computer program product comprising computer program code, which when executed on a computer enables the computer to perform the method.

[0271] An embodiment of the present application further provides a computer readable medium, the computer readable medium storing program code, the computer program code being enabled to execute the method when executed on a computer.

[0272] In the implementation process, the steps in the aforementioned method can be implemented by using hardware integrated logic circuits in a processor or by using instructions in the form of software. The method disclosed with reference to the embodiments of the present application can be directly executed by a hardware processor, or can be executed by using a combination of hardware and software modules in a processor. The software modules may be arranged in a mature storage medium in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, or a register. The storage medium is arranged in the memory, and the processor reads the information in the memory and completes the steps in the aforementioned method in combination with the hardware of the processor. In order to avoid repetition, the details will not be described again here.

[0273] It should be understood that in this embodiment of the present application, memory may include read-only memory and random access memory to provide instructions and data to the processor.

[0274] It should be further understood that the sequence numbers of the above processes in various embodiments of the present application do not mean the execution order, and the execution order of the processes should be determined based on the functions and internal logic of the processes, and should not be construed as any limitation on the implementation process in the embodiments of the present application.

[0275] Those skilled in the art may recognize that the units and algorithm steps may be implemented by electronic hardware or by a combination of computer software and electronic hardware in combination with the examples described in the embodiments disclosed herein. Whether a function is implemented by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but the implementation should not be considered to go beyond the scope of this application.

[0276] For convenience of description, it will be clearly understood by those skilled in the art that the detailed operation processes of the above-mentioned systems, devices and units should be referred to the corresponding processes in the above-mentioned method embodiments, and the details will not be described again in this specification.

[0277] In some embodiments provided in the present application, it should be understood that the disclosed system, device, and method may be implemented in other ways. For example, the device embodiment described is merely an example. For example, the division into units is merely a logical division of functions, and may be other divisions in actual implementation. For example, multiple units or assemblies may be combined or integrated into another system, or some features may be ignored or not performed. In addition, the shown or discussed mutual couplings or direct couplings or communication connections may be implemented through some interfaces. Indirect couplings or communication connections between devices or units may be implemented in electronic, mechanical, or other forms.

[0278] The units described as separate parts may or may not be physically separate, and the parts shown as units may or may not be physical units, and may be located in one location or distributed over multiple network units. Some or all of the units may be selected based on actual requirements to achieve the objectives of the solutions of the embodiments.

[0279] In addition, the functional units in the embodiments of the present application may be integrated into one processing unit, each of the units may exist physically alone, or two or more units may be integrated into one unit.

[0280] When a function is implemented in the form of a software functional unit and sold or used as an independent product, the function may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be essentially implemented in the form of a software product, or a part of the technical solution may be implemented in the form of a software product. The computer software product is stored in a storage medium and includes some instructions for instructing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method described in the embodiments of the present application. The above storage medium includes any medium that can store program code, such as a USB flash drive, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0281] The above description is merely a specific embodiment of the present application, and is not intended to limit the scope of protection of the present application. Any variation or replacement that is easily conceived by a person skilled in the art within the technical scope disclosed in this application shall fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the scope of protection of the claims. [Explanation of symbols]

[0282] 100 vehicles 120 Sensing System 130 Display device 150 Computing Platforms 151, 152, 15n processors 300 ways 401 Inverse perspective mapping image 402 Rear view image 403 "Automatic Parking" Control 404 "Remote Parking" Control 405 "Parking area switching" control 406 "Cancel" Control 1001 Prompt Box 1002 "Automatic Parking" Control 1003 "Remote Parking" Control 1004 "Cancel" control 1100 Parking Instructions 1201 IPM Images 1202 Rear view image 1203 Dynamic Trajectory Prediction 1204 Orbit support function 1205 Intelligent Parking Trajectory 1301 Prompt Information 1400 methods 1501 Prompt Information 1701 Prompt Information 1702 "Start" control 1703 "Cancel" Control 1801 Prompt Information 1802 "OK" Control 1803 "Cancel" Control 1901 Prompt Information 1902 "OK" Control 1903 "Cancel" Control 1904 Prompt Information 2001 Prompt Window 2002 "Start Tuning" Control 2003 "Pause" Control 2101 "Remote Parking" Control 2102 "Cancel" control 2103 "Start" Control 2201 Prompt Box 2202 "Exit to the left" control 2203 "Exit to the right" control 2300 Parking Instructions 2400 Parking Equipment 2401 Acquired Units 2402 Recommended Units

Claims

1. obtaining information regarding a plurality of parking areas; obtaining a relative positional relationship between a vehicle and each of the plurality of parking areas; recommending a first parking area to the user based on the relative position relationship and a first driving behavior of a user, wherein the plurality of parking areas includes the first parking area; , including, parking methods.

2. The method further comprising: recommending a second parking area to the user based on the relative position relationship and a second driving behavior of the user, wherein the plurality of parking areas includes the second parking area. The method of claim 1, further comprising:

3. Prior to the step of recommending a first parking area to the user, the method further comprises: determining a parking mode of the vehicle based on the relative positional relationship and a third driving behavior of the user, the parking mode including entering or leaving a parking area; 3. The method of claim 1 or 2, further comprising:

4. the first driving behavior includes first gear information of the vehicle and first steering information of a steering wheel of the vehicle, the first steering information of the steering wheel corresponds to a first steering direction of a wheel, and the parking mode is entering a parking area, and the step of recommending a first parking area to the user based on the relative position relationship and the first driving behavior of a user is recommending the first parking area to the user based on the first gear information and an included angle between the first steering direction and a direction of a first side of each parking area, the first side corresponding to a direction from which the vehicle will enter the parking area.

4. The method of claim 3, comprising:

5. 5. The method according to claim 3 or 4, wherein the relative position relationship further includes information regarding the distance between the vehicle and each parking area and the included angle between the direction of the second side of the vehicle and a connecting line between a wheel center point of the second side and a center point of the parking space line of each parking area on the first side, the first side and the second side corresponding to the direction in which the vehicle enters the parking area.

6. Prior to the step of determining a parking mode of the vehicle, the method further comprises: Determining that the speed of the vehicle is below a preset speed threshold.

6. The method of claim 3, further comprising:

7. The method further comprising: determining information about a parking trajectory from a current position of the vehicle to the first parking area based on a pose of the vehicle and information about the first parking area; prompting the user for the information regarding the parking trajectory; 7. The method of claim 1, further comprising:

8. the information regarding the parking trajectory includes one or more of a planned number of gear changes, a planned parking path, and a planned parking duration from the current position of the vehicle to the first parking area; The method further comprising: The following conditions are met: detecting that a number of gear changes of the user in the process of driving from the current location to the first parking area is equal to or greater than the number of planned gear changes; detecting that a length of a driving path of the vehicle from the current location to the first parking area is equal to or greater than a length of the planned parking path; or detecting that a duration of parking of the vehicle from the current location to the first parking area is equal to or greater than the planned parking duration; prompting the user to use the automatic parking function when one or more of the following conditions are met:

8. The method of claim 7, further comprising:

9. The method further comprising: When the vehicle is parked in the first parking area and the vehicle is not parked in the center of the first parking area, prompting the user that the vehicle is not parked in the center of the first parking area or prompting the user to use an automatic parking function.

9. The method of claim 1, further comprising:

10. The method of claim 2 , wherein the second driving behavior includes a second gear information and / or a second steering information of a steering wheel.

11. 4. The method of claim 3, wherein the third driving behavior includes one or more of third gear information, third steering wheel steering information, information regarding whether the vehicle is powered on within a first preset duration before the parking mode of the vehicle is determined, and an automatic parking mode in which the vehicle is in before the parking mode of the vehicle is determined.

12. an acquisition unit configured to acquire information regarding a plurality of parking areas, the acquisition unit being further configured to acquire a relative positional relationship between a vehicle and each of the plurality of parking areas; a recommendation unit configured to recommend a first parking area to the user based on the relative position relationship and a first driving behavior of the user, the plurality of parking areas including the first parking area; and A parking device comprising:

13. 13. The apparatus of claim 12, wherein the recommendation unit is further configured to recommend a second parking area to the user based on the relative position relationship and a second driving behavior of the user, and the plurality of parking areas includes the second parking area.

14. The apparatus, a first determining unit configured to determine a parking mode of the vehicle based on the relative positional relationship and a third driving behavior of the user, the parking mode including entering a parking area or exiting a parking area.

14. The apparatus of claim 12 or 13, further comprising:

15. The first driving behavior includes first gear information of the vehicle and first steering information of a steering wheel of the vehicle, the first steering information of the steering wheel corresponds to a first steering direction of a wheel, and the parking mode is entering a parking area; 15. The apparatus of claim 14, wherein the recommendation unit is further configured to recommend the first parking area to the user based on the first gear information and an included angle between the first steering direction and a direction of a first side of each parking area, the first side corresponding to a direction from which the vehicle enters the parking area.

16. 16. The device according to claim 14 or 15, wherein the relative position relationship further includes information regarding a distance between the vehicle and each parking area and an included angle between a direction of the second side of the vehicle and a connecting line between a wheel center point of the second side and a center point of a parking space line of each parking area on the first side, the first side and the second side corresponding to a direction in which the vehicle enters a parking area.

17. 17. The apparatus of claim 14, wherein the first determination unit is further configured to determine that a speed of the vehicle is less than or equal to a preset speed threshold before determining the parking mode of the vehicle.

18. The apparatus, a second determination unit configured to determine information about a parking trajectory from a current position of the vehicle to the first parking area based on a pose of the vehicle and information about the first parking area; a first prompting unit configured to prompt the user with the information regarding the parking trajectory; 18. The apparatus of claim 12, further comprising:

19. the information regarding the parking trajectory includes one or more of a planned number of gear changes, a planned parking path, and a planned parking duration from the current position of the vehicle to the first parking area; The first facilitating unit satisfies the following conditions: detecting that a number of gear changes of the user in the process of driving from the current location to the first parking area is equal to or greater than the number of planned gear changes; detecting that a length of a driving path of the vehicle from the current location to the first parking area is equal to or greater than a length of the planned parking path; or detecting that a duration of parking of the vehicle from the current location to the first parking area is equal to or greater than the planned parking duration; 20. The apparatus of claim 18, further configured to prompt the user to use an automatic parking feature when one or more of:

20. The apparatus, a second prompting unit configured to prompt the user that the vehicle is not parked in the center of the first parking area when the vehicle is parked in the first parking area and the vehicle is not parked in the center of the first parking area or to prompt the user to use an automatic parking function.

20. The apparatus of claim 12, further comprising:

21. The apparatus of claim 13 , wherein the second driving behavior comprises a second gear information and / or a second steering information of a steering wheel.

22. 15. The apparatus of claim 14, wherein the third driving behavior includes one or more of third gear information, third steering wheel steering information, information regarding whether the vehicle is powered on within a first preset duration before the parking mode of the vehicle is determined, and an automatic parking mode in which the vehicle is in before the parking mode of the vehicle is determined.

23. A parking device comprising a processor and a memory, the memory configured to store program instructions, and the processor configured to call the program instructions to perform a method according to any one of claims 1 to 11.

24. A vehicle comprising a device according to any one of claims 12 to 23.

25. 12. A computer-readable storage medium having stored thereon a program code which, when executed on a computer, enables the computer to carry out the method according to any one of claims 1 to 11.

26. A chip comprising a processor and a data interface, the processor reading instructions stored in a memory via the data interface to perform the method according to any one of claims 1 to 11.

27. 12. A computer program product comprising computer program code, which, when executed on a computer, enables the computer to carry out the method according to any one of claims 1 to 11.

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