Parking method and device, and vehicle

Abstract

A parking method is provided, including the steps of: obtaining fault indication information (S401) when a vehicle is controlled to park in or exit a parking space based on parking control information received from a mobile device, where the fault indication information indicates that at least one of a remote control function of the mobile device, a communication network of the vehicle, and a parking-related actuator of the vehicle has failed; and controlling the vehicle to brake based on the fault indication information (S402). The method may be applied to autonomous vehicles, such as intelligent vehicles or electric vehicles. If a function fails during the remote parking process, the vehicle can brake in a timely manner to ensure the safety of the vehicle during the parking process. A parking device, a vehicle, a computer-readable storage medium, and a chip are further disclosed.

Description

[Technical Field]

[0001] This application claims priority to Chinese Patent Application No. 202211522452.7, entitled "Parking Method and Apparatus, and Vehicle," filed with the State Intellectual Property Office on November 30, 2022, the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the field of intelligent vehicles, and in particular to parking methods and apparatus, and vehicles. [Background technology]

[0003] With the rapid development of the vehicle industry, many assisted driving and autonomous driving technologies have been developed to reduce driving pressure and improve safety and convenience. Under the current technological background, when a user uses remote parking assist (RPA) technology to perform remote parking, the RPA system may malfunction. When this occurs, the user outside the vehicle cannot directly take control of the vehicle by using the steering wheel, throttle, brake mechanism, etc. to ensure parking safety.

[0004] Considering this, there is an urgent need to develop parking solutions that can improve vehicle safety in the remote parking process. Summary of the Invention [Means for solving the problem]

[0005] The present application provides a parking method and device, and a vehicle, in which if the function of the parking system fails during the remote parking process, the vehicle can brake in a timely manner to ensure the safety of the vehicle during the parking process.

[0006] According to a first aspect, there is provided a parking method, which may be executed by a vehicle, a computing platform disposed in the vehicle, or a chip or circuit used in the vehicle, although this is not a limitation of the present application.

[0007] The method provided in the present application can be applied to a vehicle. The vehicle is a vehicle in the broad sense, and can be a transportation tool (e.g., a commercial vehicle, a passenger car, a truck, a motorcycle, an aircraft, an air vehicle, a train, or a ship), an industrial vehicle (e.g., a forklift truck, a trailer, or a tractor), an engineering vehicle (e.g., an excavator, a bulldozer, or a crane), an agricultural device (e.g., a lawn mower or a harvester), a recreational device, a toy vehicle, etc. The type of vehicle is not particularly limited in the present application.

[0008] The method includes the steps of obtaining fault indication information when the vehicle is controlled to park in or exit from a parking space based on parking control information received from a mobile device, the fault indication information indicating that at least one of a remote control function of the mobile device, a communication network of the vehicle, and a parking-related actuator of the vehicle has failed, and controlling the vehicle to brake based on the fault indication information.

[0009] In the above-mentioned technical solution, if a function fails during remote parking, the vehicle can be controlled to brake to ensure parking safety. Particularly in a long-distance remote parking scenario, if the remote parking function fails and the user cannot directly take over the vehicle using the steering wheel, throttle, brake mechanism, etc., the safety of the vehicle can be ensured.

[0010] In relation to the first aspect, in some implementations of the first aspect, the communication network includes a first communication network between the remote parking controller and the central gateway control unit, and the step of controlling the vehicle to brake based on the fault indication information includes controlling the vehicle to brake via a second communication network between the remote parking controller and the central gateway control unit if the fault indication information indicates that the first communication network has failed.

[0011] For example, the first communication network may be a controller area network (CAN), or more specifically, a CAN subnet of an intelligent driving domain, and the second communication network may be an automotive Ethernet.

[0012] In the aforementioned technical solution, the second communication network is set up between the remote parking controller and the central gateway control unit as a redundant backup of the first communication network, so that when the first communication network fails, the vehicle can be controlled to brake via the second communication network, so as to help ensure the safety of the vehicle.

[0013] In relation to the first aspect, in some implementations of the first aspect, the communication network includes a third communication network between the intelligent remote control terminal system and the central gateway control unit, and the step of controlling the vehicle to brake based on the fault indication information includes controlling the vehicle to brake via a fourth communication network between the intelligent remote control terminal system and the central gateway control unit when the fault indication information indicates that the third communication network has failed.

[0014] For example, the third communication network may be a CAN network, more specifically an information domain CAN subnet, and the fourth communication network may be an automotive Ethernet.

[0015] In the above technical solution, a fourth communication network is set up between the intelligent remote control terminal system and the central gateway control unit as a redundant backup for the third communication network, so that when the third communication network fails, the vehicle can be controlled to brake via the fourth communication network, so as to help ensure the safety of the vehicle.

[0016] In relation to the first aspect, in some implementations of the first aspect, the method further includes controlling the vehicle to enter a remote parking pause state based on the fault indication information if the fault indication information indicates that a remote control function of the mobile terminal has failed, or controlling the vehicle to enter a remote parking exit state based on the fault indication information if the fault indication information indicates that a communication network of the vehicle, a parking-related actuator of the vehicle, or both have failed.

[0017] For example, the remote parking pause state is a state that can be restored to the remote parking operation state, and the remote parking end state indicates that the current remote parking has ended and cannot be restored to the remote parking operation state.

[0018] In the above technical solution, in the process of remotely parking a vehicle by using a mobile terminal, based on different failure causes, the remote parking can be designed and implemented to enter a pause or end state to disconnect the control of the vehicle from the mobile terminal, so that the vehicle can brake, thereby eliminating the problem of the vehicle being out of control when the remote parking function fails.

[0019] In relation to the first aspect, in some implementations of the first aspect, after the step of controlling the vehicle to enter a remote parking pause state, the method further includes a step of controlling the vehicle to adjust from the remote parking pause state to a remote parking end state, or a step of controlling the vehicle to adjust from the remote parking pause state to a remote parking operation state based on first instruction information, wherein the first instruction information indicates that the remote control function of the mobile terminal has been restored.

[0020] In some possible implementations, the first instruction information is received within a predetermined period, the first instruction information indicating that the remote control function of the mobile terminal has been restored, and the vehicle is controlled to change from the remote parking rest state to the remote parking operating state based on the first instruction information.

[0021] For example, the preset period may be 10 seconds, 5 seconds, or some other period.

[0022] In relation to the first aspect, in some implementations of the first aspect, the method further includes a step of sending first notification information to the mobile terminal, wherein the first notification information indicates a remote parking status.

[0023] Optionally, the first notification information indicates that the remote parking status is a remote parking pause state or a remote parking end state.

[0024] In the above technical solution, when the function of the parking system fails, a first notification information is sent to the mobile terminal, so that the user can know the current status of the parking system and then perform an operation to restore the remote control function of the mobile terminal or take over the vehicle, thereby improving parking efficiency.

[0025] In relation to the first aspect, in some implementations of the first aspect, the method includes receiving braking instruction information transmitted by the mobile terminal in response to a first action of a user, and controlling the vehicle to brake based on the braking instruction information.

[0026] For example, the first action may be the user tapping an associated key on the mobile terminal that is used to park or brake the vehicle.

[0027] For example, the braking instruction information may be received when the distance between the vehicle and the obstacle is equal to or less than a preset distance.

[0028] In the above technical solution, in the process of remote parking by using a mobile terminal, the user is used as a "redundant backup" of the parking system. When the parking system function is not malfunctioning but the user thinks that parking needs to be stopped, the user is assisted to brake and control the vehicle based on personal will.

[0029] In relation to the first aspect, in some implementations of the first aspect, before the step of receiving braking instruction information transmitted by the mobile terminal in response to a first action of the user, the method further includes a step of transmitting information regarding obstacles around the vehicle to the mobile terminal, wherein the information regarding the obstacles indicates a distance between the obstacles around the vehicle and the vehicle.

[0030] In the above technical solution, in the process of a user controlling a vehicle to park using a mobile terminal, information about obstacles around the vehicle is transmitted to the mobile terminal, so that the user can determine the exact location of the obstacles around the vehicle, which solves the problem of visual blind spots when a user uses an RPA to park, and the exact location of the obstacles allows the user to accurately determine subsequent parking operations, thereby improving the efficiency of remote parking.

[0031] In relation to the first aspect, in some implementations of the first aspect, the method further includes controlling the vehicle to brake when the distance between the obstacle and the vehicle is less than or equal to a preset distance.

[0032] In the above technical solution, if the distance between the vehicle and the obstacle is too close, the vehicle will automatically brake, thereby solving the problem of the vehicle being scraped by the visual blind spot when the user uses RPA to park.

[0033] In relation to the first aspect, in some implementations of the first aspect, the failure of the remote control function of the mobile terminal includes at least one of the following: the mobile terminal exiting a monitoring interface, where the monitoring interface is used to display a process of controlling a vehicle to park in or exit a parking space; a virtual key on the mobile terminal that is used to control the vehicle to park in or exit a parking space not working; and a key on the mobile terminal that is used to control the vehicle to park in or exit a parking space being uncontrollable.

[0034] According to a second aspect, there is provided a parking method, which may be performed by a mobile terminal or by a chip or circuit used in the mobile terminal, which is not a limitation in this application.

[0035] The mobile terminal in this application may include various handheld devices, wearable devices, and computing devices with wireless communication capabilities or other processing devices connected to a wireless modem, as well as various forms of terminals, mobile stations, user equipment, etc. This is not limited to the embodiments of this application.

[0036] The method includes the steps of receiving information about obstacles around the vehicle when the vehicle is controlled to park in or exit a parking space by using a mobile terminal, the information about the obstacles indicating a distance between the vehicle and the obstacles around the vehicle, and displaying the information about the obstacles based on the information about the obstacles.

[0037] In the above technical solution, in the process of a user controlling a vehicle to park using a mobile terminal, the mobile terminal can display information about obstacles around the vehicle in real time, so that the user can determine the exact location of the obstacles around the vehicle, which solves the problem of visual blind spots when a user uses an RPA to park, and the exact location of the obstacles allows the user to accurately determine subsequent parking operations, thereby improving the efficiency of remote parking.

[0038] In relation to the second aspect, in some implementations of the second aspect, the information about the obstacle includes an image of the vehicle's surroundings and / or a distance between the obstacle and the vehicle, and the image of the surroundings includes an image of the obstacle.

[0039] In relation to the second aspect, in some implementations of the second aspect, the method includes a step of receiving first notification information transmitted by the vehicle, wherein the first notification information indicates that the remote parking status is a remote parking pause state or a remote parking end state, and a step of displaying the remote parking status based on the first notification information.

[0040] In the above technical solution, when the function of the parking system fails, the remote parking status is displayed based on the first notification information, so that the user can know the current status of the parking system and then perform operations to restore the remote control function of the mobile terminal or take over the vehicle, thereby improving parking efficiency.

[0041] According to a third aspect, there is provided a parking method, which may be performed by a mobile terminal or by a chip or circuit used in the mobile terminal, which is not a limitation in this application.

[0042] The method includes a step of controlling a vehicle to park in or exit a parking space by using a mobile terminal, and sending first fault indication information to the vehicle when a remote control function of the mobile terminal fails, the first fault indication information being used to control the vehicle to brake.

[0043] For example, the fault indication information may include first fault indication information.

[0044] According to a fourth aspect, there is provided a parking method, which may be executed by a cloud server or by a chip or circuit used in the cloud server, which is not limited in this application.

[0045] The method includes a step in which a vehicle is controlled to park in or exit a parking space by using a mobile terminal, and in the event of a failure in a communication network of the vehicle, transmitting second fault indication information to the vehicle, the second fault indication information being used to control the vehicle to brake.

[0046] For example, the fault indication information may include second fault indication information.

[0047] According to a fifth aspect, there is provided a parking device including an acquisition unit and a processing unit, wherein the acquisition unit is configured to acquire fault indication information when a vehicle is controlled to park in or exit a parking space based on parking control information received from a mobile device, the fault indication information indicating that at least one of a remote control function of the mobile device, a communication network of the vehicle, and a parking-related actuator of the vehicle has failed, and the processing unit is configured to brake the vehicle based on the fault indication information.

[0048] In relation to the fifth aspect, in some implementations of the fifth aspect, the communication network includes a first communication network between the remote parking controller and the central gateway control unit, and the processing unit is configured to brake control the vehicle via a second communication network between the remote parking controller and the central gateway control unit when the fault indication information indicates that the first communication network has failed.

[0049] In relation to the fifth aspect, in some implementations of the fifth aspect, the communication network includes a third communication network between the intelligent remote control terminal system and the central gateway control unit, and the processing unit is configured to brake control the vehicle via a fourth communication network between the intelligent remote control terminal system and the central gateway control unit when the fault indication information indicates that the third communication network has failed.

[0050] In relation to the fifth aspect, in some implementations of the fifth aspect, the processing unit is further configured to: control the vehicle to enter a remote parking pause state based on the fault instruction information if the fault instruction information indicates that a remote control function of the mobile terminal has failed; or control the vehicle to enter a remote parking exit state based on the fault instruction information if the fault instruction information indicates that a communication network of the vehicle, a parking-related actuator of the vehicle, or both have failed.

[0051] In relation to the fifth aspect, in some implementations of the fifth aspect, after the step of controlling the vehicle to enter a remote parking pause state, the processing unit is further configured to control the vehicle to adjust from the remote parking pause state to a remote parking end state, or to control the vehicle to adjust from the remote parking pause state to a remote parking operation state based on first instruction information, wherein the first instruction information indicates that the remote control function of the mobile terminal has been restored.

[0052] In relation to the fifth aspect, in some implementations of the fifth aspect, the acquisition unit is further configured to send first notification information to the mobile terminal, the first notification information indicating the remote parking status.

[0053] In relation to the fifth aspect, in some implementations of the fifth aspect, the acquisition unit is further configured to receive braking instruction information transmitted by the mobile terminal in response to a first action of the user, and the processing unit is further configured to control braking of the vehicle based on the braking instruction information.

[0054] In relation to the fifth aspect, in some implementations of the fifth aspect, before the step of receiving the braking instruction information transmitted by the mobile terminal in response to the first action of the user, the acquisition unit is further configured to transmit information regarding obstacles around the vehicle to the mobile terminal, wherein the information regarding the obstacles indicates a distance between the obstacles around the vehicle and the vehicle.

[0055] In relation to the fifth aspect, in some implementations of the fifth aspect, the processing unit is further configured to brake control the vehicle when the distance between the obstacle and the vehicle is less than or equal to a preset distance.

[0056] In relation to the fifth aspect, in some implementations of the fifth aspect, the failure of the remote control function of the mobile terminal includes at least one of the following: the mobile terminal exiting a monitoring interface, where the monitoring interface is used to display a process of controlling a vehicle to park in or exit a parking space; a virtual key on the mobile terminal that is used to control a vehicle to park in or exit a parking space not working; and a key on the mobile terminal that is used to control a vehicle to park in or exit a parking space being uncontrollable.

[0057] According to a sixth aspect, there is provided a parking device including a transceiver unit and a processing unit, wherein the transceiver unit is configured to receive information about obstacles around a vehicle when the vehicle is controlled to park in or exit a parking space using a mobile terminal, the information about the obstacles indicating a distance between the vehicle and the obstacles around the vehicle, and the processing unit is configured to display the information about the obstacles based on the information about the obstacles.

[0058] In relation to the sixth aspect, in some implementations of the sixth aspect, the information about the obstacle includes an image of the vehicle's surroundings and / or a distance between the obstacle and the vehicle, and the image of the surroundings includes an image of the obstacle.

[0059] In relation to the sixth aspect, in some implementations of the sixth aspect, the transceiver unit is further configured to receive first notification information transmitted by the vehicle, the first notification information indicating that the remote parking status is a remote parking pause state or a remote parking end state, and the processing unit is further configured to display the remote parking status based on the first notification information.

[0060] According to a seventh aspect, there is provided a parking apparatus, the apparatus including a transceiver unit configured to: control a vehicle to park in or exit a parking space by using a mobile terminal; and, if a remote control function of the mobile terminal fails, to transmit first fault indication information to the vehicle, the first fault indication information being used to control the vehicle to brake.

[0061] According to an eighth aspect, there is provided a parking apparatus, the apparatus including a transceiver unit configured to: control a vehicle to park in or exit a parking space by using a mobile terminal; and, if a communication network of the vehicle fails, to transmit second fault indication information to the vehicle, the second fault indication information being used to control the vehicle to brake.

[0062] According to a ninth aspect, there is provided a parking apparatus, the apparatus comprising: a memory configured to store a computer program; and a processor configured to execute the computer program stored in the memory to enable the apparatus to perform a method according to any one of the possible implementations of the first to fourth aspects.

[0063] According to a tenth aspect, there is provided a vehicle, the vehicle including an apparatus according to any one of any possible implementations of the fifth aspect.

[0064] According to an eleventh aspect, there is provided a mobile terminal, the mobile terminal comprising an apparatus according to any one of the possible implementations of the sixth to seventh aspects.

[0065] According to a twelfth aspect, there is provided a server, the server comprising an apparatus according to any one of any possible implementations of the eighth aspect.

[0066] According to a thirteenth aspect, there is provided a parking system, the system comprising a vehicle according to any one of the possible implementations of the tenth aspect and a mobile terminal according to any one of the possible implementations of the eleventh aspect, or the system comprising a vehicle according to any one of the possible implementations of the tenth aspect, a mobile terminal according to any one of the possible implementations of the eleventh aspect, and a server according to any one of the possible implementations of the twelfth aspect.

[0067] According to a fourteenth aspect, there is provided a computer program product, comprising computer program code which, when executed on a computer, enables the computer to carry out a method according to any one of the possible implementations of the first to fourth aspects.

[0068] It should be noted that all or part of the computer program code may be stored in a first storage medium, which may be encapsulated together with the processor or separate from the processor.

[0069] According to a fifteenth aspect, there is provided a computer-readable medium storing instructions that, when executed by a processor, enable the processor to perform a method according to any one of the possible implementations of the first aspect or the fourth aspect.

[0070] According to a sixteenth aspect, there is provided a chip, the chip including a circuit, the circuit configured to perform a method according to any one of the possible implementations of the first to fourth aspects. [Brief explanation of the drawings]

[0071] [Figure 1] FIG. 1 is a functional block diagram of a vehicle according to an embodiment of the present application. [Figure 2] FIG. 2 is a diagram of the detection ranges of various sensors according to an embodiment of the present application. [Figure 3]FIG. 1 is a diagram of the system architecture required to implement a parking method according to an embodiment of the present application. [Figure 4] 1 is a schematic flowchart of a parking method according to an embodiment of the present application. [Figure 5] FIG. 1 illustrates a diagram of a remote parking situation changing according to an embodiment of the present application. [Figure 6] FIG. 1 is a diagram of the communication framework required for the parking process according to an embodiment of the present application. [Figure 7] FIG. 1 is a diagram of a 360-degree surround view layer, a raster layer, and their fusion, according to an embodiment of the present application. [Figure 8] 4 is another schematic flowchart of a parking method according to an embodiment of the present application. [Figure 9] 1 is a block diagram of a parking device according to an embodiment of the present application; [Figure 10] FIG. 2 is a block diagram of another parking device according to an embodiment of the present application. [Figure 11] FIG. 10 is a block diagram of yet another parking device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0072] In the description of the embodiments of the present application, unless otherwise specified, " / " means "or." For example, A / B may represent A or B. In this specification, "and / or" describes an association relationship between associated objects and indicates that three relationships may exist. For example, A and / or B may refer to the following three cases: a case where only A exists, a case where both A and B exist, and a case where only B exists. In this application, "at least one" means one or more, and "plurality" means two or more. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of a single item or multiple items. For example, at least one item of a, b, or c may refer to a, b, c, a and b, a and c, b and c, or a, b, and c, where a, b, and c may be singular or plural.

[0073] In the embodiments of the present application, prefixes such as "first" and "second" are used only to distinguish different described objects, and do not limit the position, order, priority, quantity, or content of the described objects. 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 a description of the described objects. The use of such prefix terms should not constitute a redundant limitation.

[0074] As mentioned above, with the rapid development of the vehicle industry, many assisted and autonomous driving technologies have been developed to reduce driving pressure and improve safety and convenience. Among assisted driving technologies, RPA is an advanced parking solution developed based on automatic parking assist (APA) technology. With RPA, users can monitor and control the vehicle from outside the vehicle to complete the parking maneuver using a mobile device such as a cell phone. This effectively solves the problem of vehicle occupants being unable to enter or exit a narrow parking space. However, functional failures (also known as breakdowns) can occur during the execution of an RPA system. When this occurs, users outside the vehicle cannot directly take control of the vehicle by using the steering wheel, throttle, brake mechanism, etc. to ensure parking safety. In addition, visual blind spots exist when users use RPA to park, which can lead to the vehicle being scraped by obstacles during the parking process. Current technology uses sensors such as radar and cameras to perform obstacle detection and collision warning. However, the problem of visual blind spots remains unresolved, and users are still unable to accurately determine the location of obstacles around the vehicle, making it difficult to accurately determine subsequent parking operations, resulting in low remote parking efficiency.

[0075] In consideration of this, the present application provides a parking method and apparatus, as well as a vehicle. A backup communication network is configured for the information domain CAN subnet and the intelligent driving domain CAN subnet. Therefore, if the information domain CAN subnet and the intelligent driving domain CAN subnet fail, parking control commands can continue to be transmitted via the backup communication network to control the vehicle's actuators. This allows braking for stopping and ensures vehicle safety. Furthermore, the parking method in the present application provides a visualized parking interface to the user, allowing the user to accurately determine the location of obstacles around the vehicle during the remote parking process to reduce the impact of visual blind spots on remote parking efficiency.

[0076] The following describes the technical solutions of the embodiments of the present application with reference to the accompanying drawings.

[0077] 1 is a functional block diagram of a vehicle 100 according to one embodiment of the present application. The vehicle 100 may include a sensing system 120 and a computing platform 150. The sensing system 120 may include several types of sensors that sense information about the surrounding environment of 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 may be 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.

[0078] Some or all of the functions of vehicle 100 may be controlled by computing platform 150. Computing platform 150 may include processors 151 to 15n (n is a positive integer). A processor is a circuit having signal processing capabilities. In one embodiment, a processor may be a circuit having the ability 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 based on the logical relationships of a hardware circuit. The logical relationships of the 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 a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of a processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of a processor loading instructions to implement some or all of the functions of the aforementioned units. In addition, the circuit 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 may further include a memory. The memory is configured to store instructions.Some or all of the processors 151 to 15n can access and execute instructions in memory to implement corresponding functions.

[0079] The vehicle 100 may include an advanced driver assistance system (ADAS). The ADAS uses multiple sensors in the sensing system 120 (including, but not limited to, lidar, millimeter-wave radar, camera devices, ultrasonic sensors, a global positioning system, and an inertial measurement unit) to acquire information about the vehicle's surroundings, analyze and process the acquired information, and implement functions such as obstacle sensing, target recognition, vehicle positioning, route planning, and driver monitoring / attention, thereby improving the safety, automation, and comfort of vehicle driving.

[0080] FIG. 2 is a diagram of the detection ranges of various sensors. The sensors may include, for example, the lidar, millimeter-wave radar, camera device, and ultrasonic sensor of the detection system 120 shown in FIG. 1. Millimeter-wave radar can be categorized as long-range radar and medium / short-range radar. Currently, the detection range of lidar is approximately 80 to 150 meters, the detection range of long-range millimeter-wave radar is approximately 1 to 250 meters, the detection range of medium / short-range millimeter-wave radar is approximately 30 to 120 meters, the detection range of camera is approximately 50 to 200 meters, and the detection range of ultrasonic radar is approximately 0 to 5 meters.

[0081] At different levels of automation (L0-L5), ADAS can implement different levels of automated driving assistance based on information acquired through the use of multiple sensors and artificial intelligence algorithms. The aforementioned levels of automation (L0-L5) are based on the Society of Automotive Engineers (SAE) rating scale. Level L0 indicates no automation, Level L1 indicates driver assistance, Level L2 indicates partial automation, Level L3 indicates conditional automation, Level L4 indicates high automation, and Level L5 indicates full automation. At levels L1-L3, the task of monitoring and responding to road conditions is completed jointly by the driver and the system, and the driver must take over the dynamic driving task. At levels L4 and L5, the driver can be fully transformed into a passenger. Currently, functions that can be implemented by ADAS mainly include, but are not limited to, adaptive driving, automatic emergency braking, automatic parking, blind spot monitoring, forward intersection traffic warning / braking, rear intersection traffic warning / braking, forward vehicle collision warning, lane departure warning, lane keeping assist, rear vehicle collision avoidance warning, traffic sign recognition, traffic jam assist, highway assist, etc. It should be understood that the aforementioned functions may have specific modes at different autonomous driving levels (L0 to L5). Higher autonomous driving levels correspond to more intelligent modes.

[0082] Before the parking method provided in the embodiments of the present application is described, the system architecture required to implement the parking method provided in the embodiments of the present application will first be described with reference to FIG. 3.

[0083] FIG. 3 is a diagram of a system architecture required to implement the parking method. The system includes a vehicle and a mobile terminal. For example, the vehicle may include vehicle 100 shown in FIG. 1. The vehicle includes a central gateway control, a chassis control domain, a power control domain, a body control domain, a sensing module, a remote parking controller, and an intelligent remote control terminal. The central gateway control communicates with the electronic stability program (ESP), electronic park brake (EPB), and electronic power steering (EPS) controls in the chassis control domain via the chassis domain CAN subnet. The central gateway control communicates with the motor controller, battery management system (BMS), and electronic selector module (ESM) in the power control domain via the power domain CAN subnet. The central gateway control communicates with the body control module (BCM) and door control module (DCM) in the body control domain via the body domain CAN subnet. The central gateway control unit communicates with the remote parking controller via the intelligent driving domain (simply referred to as the intelligent driving domain) CAN subnet. The remote parking controller communicates with the millimeter-wave radar and ultrasonic radar controller (i.e., the ultrasonic controller) in the sensing module via a CAN bus, with the lidar in the sensing module via automotive Ethernet, and with the camera device via a gigabit multimedia serial link (GMSL) bus. During the remote parking process, the remote parking controller communicates with the sensors in the sensing module to obtain information about the distance between the vehicle and obstacles around the vehicle.The central gateway controller communicates with the intelligent remote control terminal system and the in-vehicle infotainment system via the information domain CAN subnet. The intelligent remote control terminal system communicates with the mobile terminal via a wireless communication system, receives remote parking-related commands sent by the mobile terminal, and sends remote parking-related notifications to the mobile terminal. The wireless communication system may include a radio frequency identification (RFID) module, an ultra-wide band (UWB) module, Bluetooth low energy (BLE), a wireless short-range communication system (e.g., an in-vehicle wireless short-range communication system), a fourth generation (5G) communication system, a fifth generation (5G) communication system, etc.

[0084] Note that a network management algorithm and a packet byte checksum algorithm are deployed in the central gateway control unit to monitor the communication status of each CAN subnet, and a network management algorithm is deployed in the intelligent remote control terminal system and the mobile terminal to monitor the status of wireless network communication. The central gateway control unit further includes a switch, which communicates with the remote parking controller, the intelligent remote control terminal system, and the in-vehicle infotainment system via automotive Ethernet. In this way, if the function of the intelligent driving domain CAN subnet fails, the remote parking controller can still communicate with the central gateway control unit, and if the function of the information domain CAN subnet fails, the intelligent remote control terminal system and the in-vehicle infotainment system can still communicate with the central gateway control unit. Furthermore, a functional safety thread is deployed in the remote parking controller to monitor whether the functions of the vehicle's power, braking, and steering subsystems are being performed. Redundant backups are set for the ESP and EPB, so that in a remote parking process, if the ESP's function of braking to a stop fails, the EPB can still be used to control the execution of the parking brake, or if the EPB's parking brake function fails, the ESP can still be used to control the execution of braking to a stop. Redundant backups are set for the chassis domain CAN subnet and the power domain CAN subnet, so that if the chassis domain CAN subnet's function fails, the motor controller connected to the power domain CAN subnet can be used to control the execution of braking to a stop.

[0085] It will be appreciated that the ESP can brake the wheels of the vehicle to reduce the vehicle's speed to zero, thereby implementing braking to a stop. After controlling the vehicle to implement braking to a stop, the EPB may implement a parking brake on the vehicle. The motor controller can control the output torque to reduce the vehicle's speed to zero, thereby implementing braking to a stop.

[0086] 4 is a schematic flowchart of a parking method according to an embodiment of the present application. The method may be performed by the vehicle 100 shown in FIG. 1, the system shown in FIG. 3, or a chip used in the vehicle. More specifically, the method may be performed by a central gateway controller, and the method 400 may include the following steps:

[0087] S401: In a process in which a vehicle is controlled to park in or exit from a parking space based on parking control information received from a mobile terminal, fault indication information is obtained indicating that at least one of the remote control function of the mobile terminal, the communication network of the vehicle, and the parking-related actuator of the vehicle has failed.

[0088] For example, the vehicle's communication network may include an internal communication network of the vehicle, such as at least one of an information domain CAN subnetwork, an intelligent driving domain CAN subnetwork, a chassis domain CAN subnetwork, a power domain CAN subnetwork, and a body domain CAN subnetwork, or the vehicle's communication network may include an external communication network of the vehicle, such as a communication network for communication between the vehicle and a mobile device. The parking-related actuators of the vehicle include at least one of an ESP, an EPB, and a motor controller.

[0089] For example, the failure of the remote control function of the mobile device includes at least one of the following: the mobile device has exited the remote parking monitoring interface; the virtual key on the mobile device used for remote parking is stuck; and the key on the mobile device used for remote parking is uncontrollable. The virtual key is stuck may be caused by the user accidentally touching the screen of the mobile device, causing repeated pressing of the virtual key, or other reasons.

[0090] For example, the fault indication information may be transmitted by a cloud server. For example, when the cloud server detects that the communication function of the vehicle's communication network has failed, the cloud server transmits fault indication information indicating that the vehicle's communication network has failed to the vehicle. Alternatively, the fault indication information may be transmitted by a vehicle monitoring system. For example, when the vehicle monitoring system detects that the vehicle's speed or deceleration has exceeded a predetermined threshold, the vehicle monitoring system transmits fault indication information indicating that the ESP has failed to the vehicle's central gateway control unit. When the vehicle monitoring system detects that the vehicle's speed or deceleration has exceeded a predetermined threshold, the vehicle monitoring system transmits fault indication information indicating that the vehicle's EPB has failed to the vehicle's central gateway control unit. Alternatively, when the vehicle monitoring system detects that the vehicle's speed or acceleration has exceeded a predetermined threshold, the vehicle monitoring system transmits fault indication information indicating that the vehicle's motor controller has failed to the vehicle's central gateway control unit. Alternatively, the fault indication information may be transmitted by a mobile terminal. For example, when the remote control function of the mobile terminal has failed, fault indication information indicating that the remote control function of the mobile terminal has failed is transmitted to the vehicle.

[0091] S402: Control the vehicle to brake based on the fault indication information.

[0092] Optionally, the vehicle may be controlled to brake by using at least one of an EPB, an EPS, and a motor controller. In some possible implementations, the mechanism used to control the vehicle to brake in the aforementioned mechanisms is determined based on the fault location indicated by the fault indication information.

[0093] Optionally, after the vehicle is controlled to brake, the vehicle is controlled to enter a remote park pause state or a remote park exit state based on the fault indication information.

[0094] Optionally, if the fault indication information indicates that the vehicle's communication network or the vehicle's parking-related actuators, or both, have failed, the vehicle may be controlled to enter a remote parking exit state based on the fault indication information.

[0095] Optionally, if the malfunction indication information indicates that the remote control function of the mobile terminal has malfunctioned, the vehicle may be controlled to enter a remote park rest state based on the malfunction indication information.

[0096] After the vehicle is controlled to enter the remote parking pause state based on the fault indication information, if the related fault problem is resolved within a preset period, i.e., if the normal function of the failed part is restored, the vehicle is controlled to change from the remote parking pause state to the remote parking operation state; or if the related fault problem is not resolved within a preset period, i.e., if the normal function of the failed part is not restored, the vehicle is controlled to change from the remote parking pause state to the remote parking end state.

[0097] For example, the preset period may be 10 seconds, 5 seconds, or some other period.

[0098] In some possible implementations, when the failure indication information indicates that a first communication network between the remote parking controller and the central gateway control unit has failed, the vehicle is controlled to brake by using the central gateway control unit, and the vehicle is controlled to brake via a second communication network between the remote parking controller and the central gateway control unit, and the second communication network is a backup communication network.

[0099] In some possible implementations, when the fault indication information indicates that the third communication network between the intelligent remote control terminal system and the central gateway control unit has failed, the parking control command sent by the mobile terminal is sent via a fourth communication network between the intelligent remote control terminal system and the central gateway control unit, and the fourth communication network is a backup communication network. Further, the central gateway control unit controls the vehicle to brake, and the central gateway control unit sends an instruction to the remote parking controller, and the remote parking controller controls to terminate the remote parking procedure.

[0100] In some possible implementations, the method may further include receiving braking instruction information transmitted by the mobile device and controlling the vehicle to brake based on the braking instruction information. The braking instruction information may be generated based on a distance between the vehicle and an obstacle around the vehicle, or may be generated by the user by tapping a "park stop" action when the user observes that the vehicle is getting too close to an obstacle around the vehicle by using a parking interface of the mobile device.

[0101] According to the parking method provided in this embodiment of the present application, in the design process of the architecture of the remote parking system, a redundant backup is implemented for the vehicle braking function mechanism and the main communication network that needs to be used in remote parking, so that when the related components fail in the remote parking process of the vehicle, the parking control command can continue to be sent through the backup communication network to control the actuator of the vehicle, thereby implementing braking for stopping and ensuring the safety of the vehicle.

[0102] With reference to FIG. 5 and Table 1, the following will describe in detail the method for controlling the vehicle to brake in S402 based on the fault indication information, and the state in which the remote parking situation is controlled and changed after the vehicle brakes, i.e., the fault causes and the corresponding functional safety policies of the fault causes.

[0103] FIG. 5 is a diagram of the remote parking status and changes in the remote parking status of a parking system (or vehicle). As shown in the figure, the remote parking status includes a remote parking off state, a remote parking standby state, a remote parking preparation state, a remote parking operation state, a remote parking end state, a remote parking completion state, and a remote parking pause state. In some possible implementations, when a mobile device used for remote parking is connected to the vehicle, the remote parking status changes from the remote parking off state to the remote parking standby state. Furthermore, when a command is received from the mobile device indicating that a parking space has been selected or that a direction to exit the parking space has been selected, the remote parking status changes from the remote parking standby state to the remote parking preparation state. When a remote parking command is received from the mobile device, the remote parking status changes from the remote parking preparation state to the remote parking operation state. If a failure is detected on the vehicle side and / or the mobile device side during the remote parking process, the remote parking controller of the vehicle controls the remote parking status to change from the remote parking operation state to the remote parking pause state or the remote parking completion state based on the cause of the failure. When the vehicle has completed parking, the remote parking status changes from a remote parking in progress state to a remote parking completed state.

[0104] It should be noted that the states shown in Figure 5 may be implemented by one state machine or in another way, which is not specifically limited in this embodiment of the present application. For example, the state machine may be located in a remote parking controller.

[0105] In some possible implementations, when the remote parking situation is in the remote parking standby state, a system check is performed on the parking system. After the system check passes, the remote parking ready state is entered based on an instruction sent by the mobile device. If the system check fails, remote parking is terminated. For example, the instruction sent by the mobile device may be an instruction generated in response to a user tapping a "parking confirmation" key.

[0106] For example, the aforementioned system checks may include normal communication between the vehicle and the mobile device and normal visualized vehicle states, i.e., the vehicle doors, hood, and trunk lid are all closed and the exterior rearview mirrors are open.

[0107] In some possible embodiments, the types, causes, and functional safety policies to be adopted corresponding to the types of failures that occur in the parking system during the remote parking process are shown in Table 1. For example, whether the communication between the mobile terminal and the vehicle has failed can be determined by using a communication heartbeat monitoring algorithm, whether the CAN subnet in the vehicle has failed can be determined by using a network management algorithm and a packet byte checksum algorithm, whether the mobile terminal side has failed can be determined by using an application (APP) heartbeat monitoring algorithm, and whether the vehicle actuator has failed can be determined by detecting whether the vehicle's speed, acceleration, deceleration, pause, etc. exceed a preset threshold.

[0108] [Table 1-1] [Table 1-2]

[0109] For example, in the information domain CAN subnet, an indirect network management algorithm deployed in the central gateway control unit is used to monitor whether communication between the intelligent remote control terminal system and the in-vehicle infotainment system has failed. If communication between the intelligent remote control terminal system or the in-vehicle infotainment system has failed, the central gateway control unit sends a braking command to the ESP or EPB to control the vehicle to brake to a stop. The intelligent remote control terminal system or the in-vehicle infotainment system communicates with another subsystem on the vehicle side via an automotive Ethernet backup. The remote parking controller controls remote parking to end (i.e., remote parking enters an end state) and sends a notification about the end of remote parking to the mobile terminal.

[0110] In the intelligent driving domain CAN subnet, an indirect network management algorithm deployed in the central gateway control unit is used to monitor whether communication with the remote parking controller has failed. If communication with the remote parking controller has failed, the central gateway control unit sends a braking to stop command to the ESP or EPB to control the vehicle to brake to a stop. The remote parking controller communicates with another subsystem on the vehicle side via an automotive Ethernet backup, cooperates with the other subsystem to end remote parking, and sends a notification regarding the end of remote parking to the mobile device.

[0111] The chassis domain CAN subnet uses an indirect network management algorithm and a packet byte checksum algorithm deployed in the central gateway control unit to monitor whether communication among the ESP, EPB, and EPS has failed. If communication among at least one of the ESP, EPB, and EPS has failed, the central gateway control unit sends a parking brake command to the motor controller to control the vehicle to perform parking braking. The remote parking controller cooperates with another subsystem to end remote parking and sends a notification regarding the end of remote parking to the mobile device.

[0112] In the power domain CAN subnet, an indirect network management algorithm and a packet byte checksum algorithm are deployed in the central gateway control unit to monitor whether communication among the motor controller, the BMS, and the ESM has failed. If communication among at least one of the motor controller, the BMS, and the ESM has failed, the central gateway control unit sends a braking to stop command to the ESP or the EPB to control the vehicle to brake to a stop. The remote parking controller cooperates with another subsystem to end remote parking and sends a notification regarding the end of remote parking to the mobile device.

[0113] In the vehicle body domain CAN subnet, a direct network management algorithm deployed in the central gateway control unit is used to monitor whether communication among the BCM, DCM, and PEPS has failed. If communication among at least one of the BCM, DCM, and PEPS has failed, the central gateway control unit sends a braking to stop command to the electric stability program to control the vehicle to brake to a stop. The remote parking controller cooperates with another subsystem to end remote parking and sends a notification regarding the end of remote parking to the mobile device.

[0114] Furthermore, a tracking error monitoring algorithm for the vehicle's target speed and target acceleration, which is deployed in the remote parking controller, is used to determine whether the ESP or motor controller has failed. If the tracking error for the vehicle's target speed or target deceleration exceeds a preset threshold, the central gateway control unit sends a braking to stop command to the EPB to control the vehicle to brake to a stop. The remote parking controller cooperates with another subsystem to end remote parking and sends a notification regarding the end of remote parking to the mobile device.

[0115] Furthermore, for functional failures such as the mobile terminal shutting down the remote parking monitoring interface or the mobile terminal's virtual key used for remote parking not working, the APP heartbeat algorithm deployed in the intelligent remote control terminal system is used to perform functional failure detection. When a functional failure is detected, it will notify the electric stability program to perform braking to stop, remote parking will enter a paused state, and a notification regarding the paused remote parking will be sent to the mobile terminal. If the user does not restore the relevant function within a preset period, remote parking will enter an end state.

[0116] According to the parking method provided in this embodiment of the present application, the functional safety policy of a parking system (especially a long-distance remote parking system) is designed and implemented from three aspects: failure cause, failure detection method, and functional safety policy. Furthermore, a state machine instance of the remote parking system is proposed to ensure that the system safely enters a standby state, a hibernation state, or an end state when a function fails, and executes the corresponding functional safety policy in the standby state, hibernation state, or end state, so that the normal state of the parking system is separated from the protection state during a failure. This makes it easy to deploy the functional safety policy in the parking system.

[0117] In some possible implementations, communication between the mobile device and the vehicle may be implemented by using the communication framework shown in FIG. 6. The application layer of the communication system on the mobile device side and the vehicle side uses the real-time streaming protocol (RTSP), and the transport layer uses the user datagram protocol (UDP), thereby implementing low latency data transmission. Furthermore, data distribution service (DDS) middleware is deployed between the application layer and the transport layer, thereby achieving high reliability and security of data transmission.

[0118] In some possible implementations, a frame-to-frame vehicle attitude matching technique is used to monitor whether the communication data between the mobile terminal and the vehicle is abnormal. If it is detected that the data is abnormal, for example, that the vehicle attitude information contained in the two packet frames received by the mobile terminal does not satisfy the vehicle kinematic constraint, the vehicle is controlled to brake.

[0119] In some possible implementations, the remote parking controller detects environmental information around the vehicle detected by sensors such as cameras, lidar, millimeter-wave radar, and ultrasonic radar, and processes the environmental information around the vehicle to obtain perceptual fusion output information. For example, the perceptual fusion output information may include available parking spaces, a rasterized obstacle map, dynamic information about obstacles, and a 360-degree surround-view image around the vehicle. If the remote parking controller detects a collision risk, the central gateway control unit sends a braking-to-stop command to the ESP to control the vehicle to brake to a stop. The remote parking controller cooperates with another subsystem to end remote parking and sends a notification regarding the end of remote parking to the mobile device.

[0120] As shown in Figure 7, the rasterized obstacle map is scanned by using the neighborhood template of the raster grid, thereby obtaining the Euclidean distance and orientation between each raster grid and the raster grid of the nearest obstacle, and the Euclidean distance and orientation information of the vehicle to the nearest obstacle is obtained by using the vehicle multi-circle envelope obstacle detection algorithm.

[0121] Specifically, a neighborhood template is formed based on the neighborhood grid q ∈ {q1, q2, , q8} of the raster grid p shown in Fig. 7(a), and the coordinates of the neighborhood grid q ∈ {q1, q2, , q8} relative to the grid of the nearest obstacle are defined as C(q) = (C x (q), C y (q)), and based on the coordinates, the square of the Euclidean distance between the neighboring grid q ∈ {q1, q2, , q8} and the grid of the nearest obstacle may be calculated. Assume that the grid of the nearest obstacle in the raster grid p is the same as the grid of the nearest obstacle in the neighboring raster q ∈ {q1, q2, , q8}. The deviation d(p, q) of the square of the Euclidean distance and the deviation M(p, q) of the relative coordinates between the raster grid p and the neighboring grid q ∈ {q1, q2, , q8} are as follows:

number

[0122] f(q) is used to represent the square of the Euclidean distance of the neighborhood grid q ∈ {q1, q2, , q8} to the grid of the nearest obstacle, and f(p) and C(p) are used to represent the square of the Euclidean distance and the relative coordinate of the raster grid p to the grid of the nearest obstacle. In the raster scanning algorithm, the neighborhood template is used to scan the rasterized obstacle map four times: forward scanning from left to right based on the set N1(p) = {q1, q2, q3, q4}, backward scanning from right to left based on the set N2(p) = {q5, q6, q7, q8}, forward scanning from top to bottom based on the set N3(p) = {q3, q2, q1, q8}, and backward scanning from bottom to top based on the set N4(p) = {q7, q6, q5, q4}. In each scanning process, the neighborhood grid q ∈ N i (p), i=1,2,3,4, the square of the Euclidean distance f(q) of the current raster grid p to the nearest grid obstacle can be reduced, if the square of the Euclidean distance f(p) and the relative coordinate C(p) of the current raster grid p to the nearest obstacle grid are the neighboring grids q∈N i (p), i=1,2,3,4. After the four scans are completed, the Euclidean distance and orientation between each raster grid in the rasterized obstacle map and the raster grid of the nearest obstacle can be obtained.

[0123] To quickly obtain the Euclidean distance and orientation information of the vehicle relative to the nearest obstacle, three circles (circle O1, circle O2, and circle O3) with the same radius are used to surround the outer contour of the vehicle, as shown in Figure 7(b). Based on information about the raster grid where the centers of the three circles are located in the rasterized obstacle map, the Euclidean distance and orientation between the vehicle and the raster grid of the nearest obstacle are determined. The coordinates of the centers of the three circles are the position of the midpoint of the rear axle of the vehicle at instant k (x r (k), y r (k), φ(k)).

number

[0124] L c , W, L r are the vehicle length, width, and rear overhang, respectively.

[0125] Alternatively, the 360-degree surround view image shown in FIG. 7(c) may be fused with the raster layer shown in FIG. 7(d) to obtain the fused image shown in FIG. 7(e), and information about the fused image may be sent to the mobile device. In some possible implementations, only the obstacle closest to the vehicle may be displayed in the fused image. For example, the raster layer shown in FIG. 7(d) includes obstacle 1 and obstacle 2, and obstacle 2 is further away from the vehicle. In a remote parking process, considering that the obstacle closest to the vehicle poses a greater threat to the vehicle's safety, only obstacle 1 close to the vehicle may be displayed in the fused image.

[0126] It will be understood that the 360-degree surround view image can display information about the vehicle's surroundings from different angles, thereby eliminating the user's visual blind spots during the remote parking process. The vehicle's Euclidean distance and orientation information relative to obstacles can be obtained by using a vehicle multi-circle envelope obstacle detection algorithm, thereby visualizing obstacle distance level information. In this way, the mobile device provides the user with visualized vehicle surrounding environment information and obstacle distance level information. If there is a risk of collision during the remote parking process, the user can use the mobile device to pause or terminate the remote parking at any time. This helps ensure safety during the long-distance remote parking process.

[0127] 8 is another schematic flowchart of a parking method according to an embodiment of the present application. The method may be performed by a mobile terminal. The mobile terminal may be a mobile terminal that controls a vehicle to move into and out of a parking space in method 400. The method may include the following steps:

[0128] S801: When a vehicle is controlled to park in or exit from a parking space by using a mobile terminal, information about obstacles around the vehicle is received, the information indicating a distance between the obstacles around the vehicle and the vehicle.

[0129] For example, the vehicle may be the vehicle in the previous embodiment or may be another vehicle in remote parking.

[0130] For example, information about an obstacle may be determined based on the embodiment corresponding to FIG.

[0131] S802: Based on the information about the obstacle, information about the obstacle is displayed.

[0132] For example, the information about the obstacle includes an image of the vehicle's surroundings, and the image of the surroundings includes an image of the obstacle and / or a distance between the obstacle and the vehicle.

[0133] For example, the image of the surrounding environment may be a 360-degree surround view image.

[0134] According to the parking method provided in this embodiment of the present application, in the process of a user controlling a vehicle to park using a mobile terminal, the mobile terminal can display information about obstacles around the vehicle in real time, so that the user can determine the exact location of the obstacles around the vehicle, which solves the problem of visual blind spots when a user uses an RPA to park, and the exact location of the obstacles allows the user to accurately determine subsequent parking operations, thereby improving the efficiency of remote parking.

[0135] In various embodiments of the present application, unless otherwise specified or there is no logical contradiction, the terms and / or descriptions in different embodiments are consistent and can be cross-referenced, and the technical features in various embodiments can be combined based on their internal logical relationships to form new embodiments.

[0136] The above describes in detail the method provided in the embodiment of the present application with reference to Figures 1 to 8. Hereinafter, the device provided in the embodiment of the present application will be described in detail with reference to Figures 9 to 11. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment. Therefore, for the contents not described in detail, please refer to the method embodiment. For the sake of brevity, the details will not be described again here.

[0137] 9 is a block diagram of a parking device 900 according to an embodiment of the present application. The device 900 includes an acquisition unit 910 and a processing unit 920.

[0138] The apparatus 900 may include units configured to perform the method of Figure 4. Furthermore, the units in the apparatus 900 and other operations and / or functions described above may be used separately to implement corresponding procedures in the method embodiments of Figure 4.

[0139] When the apparatus 900 is configured to perform the method 400 of FIG. 4, the acquisition unit 910 may be configured to perform S401 of the method 400, and the processing unit 920 may be configured to perform S402 of the method 400.

[0140] Specifically, the acquisition unit 910 is configured to acquire fault indication information when the vehicle is controlled to park in or exit from a parking space based on parking control information received from the mobile terminal, the fault indication information indicating that at least one of the remote control function of the mobile terminal, the communication network of the vehicle, and the parking-related actuator of the vehicle has failed, and the processing unit 920 is configured to brake control the vehicle based on the fault indication information.

[0141] Optionally, the communication network includes a first communication network between the remote parking controller and the central gateway control unit, and the processing unit 920 is configured to brake control the vehicle via a second communication network between the remote parking controller and the central gateway control unit when the fault indication information indicates that the first communication network has failed.

[0142] Optionally, the communication network includes a third communication network between the intelligent remote control terminal system and the central gateway control unit, and the processing unit 920 is configured to brake control the vehicle via a fourth communication network between the intelligent remote control terminal system and the central gateway control unit when the fault indication information indicates that the third communication network has failed.

[0143] Optionally, the processing unit 920 is further configured to control the vehicle to enter a remote parking pause state based on the fault instruction information if the fault instruction information indicates that a remote control function of the mobile terminal has failed, or to control the vehicle to enter a remote parking exit state based on the fault instruction information if the fault instruction information indicates that a communication network of the vehicle, a parking-related actuator of the vehicle, or both have failed.

[0144] Optionally, after the step of controlling the vehicle to enter a remote parking pause state, the processing unit 920 is further configured to control the vehicle to adjust from the remote parking pause state to a remote parking end state, or to control the vehicle to adjust from the remote parking pause state to a remote parking operation state based on the first instruction information, wherein the first instruction information indicates that the remote control function of the mobile terminal has been restored.

[0145] Optionally, the obtaining unit 910 is further configured to send first notification information to the mobile terminal, where the first notification information indicates the remote parking situation.

[0146] Optionally, the acquisition unit 910 is further configured to receive braking instruction information transmitted by the mobile terminal in response to a first action of the user, and the processing unit 920 is further configured to control braking of the vehicle based on the braking instruction information.

[0147] Optionally, before the step of receiving the braking instruction information transmitted by the mobile terminal in response to the user's first action, the acquisition unit 910 is further configured to transmit information regarding obstacles around the vehicle to the mobile terminal, wherein the information regarding the obstacles indicates a distance between the obstacles around the vehicle and the vehicle.

[0148] Optionally, the processing unit 920 is further configured to brake the vehicle when the distance between the obstacle and the vehicle is equal to or less than a preset distance.

[0149] Optionally, the failure of the remote control function of the mobile terminal includes at least one of the following: the mobile terminal exiting a monitoring interface, which is used to display a process of controlling a vehicle to park in or exit a parking space; a virtual key on the mobile terminal, which is used to control a vehicle to park in or exit a parking space, not working; and a key on the mobile terminal, which is used to control a vehicle to park in or exit a parking space, being out of control.

[0150] For example, the acquisition unit 910 may include the intelligent remote control terminal system shown in FIG. 3, and the processing unit may include the central gateway control unit shown in FIG.

[0151] It should be understood that the division of the device into units described above is merely a logical division of function, and that in actual implementation, all or some of the units may be integrated into a physical entity, or the units may be physically separated. Additionally, the units within the device may be implemented in the form of software invoked by a processor. For example, the device may include a processor connected to a memory, which stores instructions, and the processor invokes the instructions stored in the memory to perform any one of the methods described above or to perform the functions of the units within the device. For example, the processor may be a general-purpose processor, such as a CPU or a microprocessor, and the memory may be memory within the device or memory external to the device. Alternatively, the units within the device may be implemented in the form of hardware circuits, and some or all of the functions of the units may be implemented by designing the hardware circuits. A hardware circuit may be understood as one or more processors. For example, in one embodiment, the hardware circuit is an ASIC, and some or all of the functions of the units are implemented by designing logical relationships between elements within the circuit. As another example, in another embodiment, the hardware circuit may be implemented by using a PLD, such as an FPGA, which may include a large number of logic gate circuits, and the connections between the logic gate circuits to implement some or all of the functions of the aforementioned units are configured using a configuration file. All of the units in the aforementioned apparatus may be implemented in the form of software called by a processor, or all of the units may be implemented in the form of hardware circuits, or some units may be implemented in the form of software called by a processor and the remaining units may be implemented in the form of hardware circuits.

[0152] In this embodiment of the present application, the processor is a circuit having signal processing capabilities. In one embodiment, the processor may be a circuit capable of reading and executing instructions, such as a CPU, microprocessor, GPU, or DSP. In another embodiment, the processor may implement a specific function based on the logical relationships of the hardware circuit. The logical relationships of the hardware circuit may be fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an ASIC or 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 may 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 circuit may be a hardware circuit designed for artificial intelligence, which may be understood as an ASIC, such as an NPU, TPU, or DPU.

[0153] It will be appreciated that the units in the aforementioned apparatus may be one or more processors (or processing circuits) configured to perform the aforementioned methods, such as a CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0154] In addition, all or some of the units of the device may be integrated or implemented independently. In one embodiment, the 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 methods or implement the functions of the units in the device. The type of the at least one processor may be different and may include, for example, a CPU and an FPGA, a CPU and an artificial intelligence processor, or a CPU and a GPU.

[0155] In a particular implementation, the operations performed by the acquisition unit 910 and the processing unit 920 may be performed by the same processor or different processors, for example, may be separately performed by multiple processors. In a particular implementation, the one or more processors may be processors disposed in the computing platform 150 shown in FIG. 1, or the device 900 may be a chip disposed in the vehicle 100.

[0156] 10 is a block diagram of a parking device 1000 according to an embodiment of the present application. The device 1000 includes a transceiver unit 1010 and a processing unit 1020.

[0157] The apparatus 1000 may include units configured to perform the method of Figure 8. Furthermore, the units in the apparatus 1000 and other operations and / or functions described above may be used separately to implement corresponding procedures in the method embodiments of Figure 8.

[0158] When the device 1000 is configured to perform the method 800 of FIG. 8, the transceiver unit 1010 may be configured to perform S801 of the method 800, and the processing unit 1020 may be configured to perform S802 of the method 800.

[0159] Specifically, the transceiver 1010 is configured to receive information about obstacles around the vehicle when the vehicle is controlled to park in or exit from a parking space by using the mobile terminal, the information about the obstacles indicating a distance between the vehicle and the obstacles around the vehicle, and the processing unit 1020 is configured to display the information about the obstacles based on the information about the obstacles.

[0160] Optionally, the information about the obstacle comprises an image of the vehicle's surroundings and / or a distance between the obstacle and the vehicle, the image of the surroundings comprising an image of the obstacle.

[0161] Optionally, the transceiver unit 1010 is further configured to receive first notification information transmitted by the vehicle, the first notification information indicating that the remote parking status is a remote parking pause state or a remote parking end state, and the processing unit 1020 is further configured to display the remote parking status based on the first notification information.

[0162] In a particular implementation, the operations performed by the transceiver 1010 and the processor 1020 may be performed by the same processor or by different processors, e.g., may be separately performed by multiple processors. In a particular implementation, one or more processors may be a processor located in a mobile terminal, or the device 1000 may be a chip located in a mobile terminal.

[0163] FIG. 11 is a block diagram of a parking device according to one embodiment of the present application. The parking device 1100 shown in FIG. 11 may include a processor 1110, a transceiver 1120, and a memory 1130. The processor 1110, the transceiver 1120, and the memory 1130 are connected via an internal connection path. The memory 1130 is configured to store instructions. The processor 1110 is configured to execute the instructions stored in the memory 1130 so that the transceiver 1120 receives / transmits certain parameters. In some possible implementations, the memory 1130 may be coupled to the processor 1110 by using an interface or may be integrated into the processor 1110.

[0164] It should be noted that the transceiver 1120 may include, but is not limited to, an input / output interface type transceiver device to facilitate communication between the apparatus 1100 and another device or communication network.

[0165] The memory 1130 may be a read only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM).

[0166] To facilitate communication between the apparatus 1100 and another device or communication network, the transceiver 1120 uses a transceiver device, such as, but not limited to, a walkie-talkie.

[0167] In some possible implementations, the device 1100 may be located in a mobile terminal or in a vehicle. If the device 1100 is located in a vehicle, the device may be located in the computing platform 150 shown in FIG. 1.

[0168] An embodiment of the present application further provides a vehicle, which may include the device 900 or the device 1100.

[0169] An embodiment of the present application further provides a mobile terminal, which may include the device 1000 or the device 1100.

[0170] An embodiment of the present application further provides a parking system, which may include the device 900 and the device 1000, or the system may include a vehicle and a mobile terminal.

[0171] An embodiment of the present application further provides a computer program product, which includes computer program code, which, when executed on a computer, enables the computer to perform the method of the embodiment of the present application.

[0172] An embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions, and when the computer instructions are executed on a computer, enables the computer to perform the method of the embodiment of the present application.

[0173] An embodiment of the present application further provides a chip, which includes a circuit and is configured to perform the method of the embodiment of the present application.

[0174] 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 methods disclosed with reference to the embodiments of the present application may be directly executed by a hardware processor, or may be executed by a combination of hardware and software modules in a processor. The software modules may be located 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 located in the memory, and the processor reads information in the memory and completes the steps in the aforementioned method in combination with the hardware of the processor. To avoid repetition, details will not be described again here.

[0175] Those skilled in the art can realize that, in combination with the examples described in the embodiments disclosed herein, the units and algorithm steps can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether a function is performed 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 of each specific application, but such implementation should not be considered to go beyond the scope of this application.

[0176] For the sake of convenience and conciseness, the detailed working processes of the above-mentioned systems, devices and units may be clearly understood by those skilled in the art by referring to the corresponding processes in the above-mentioned method embodiments, and the details will not be repeated here.

[0177] In some embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other ways. For example, the device embodiments described are merely examples. For example, the division into units is merely a division of logical functionality, and other divisions may be used in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. In addition, the shown or described mutual couplings or direct couplings or communication connections may be implemented via some interfaces. Indirect couplings or communication connections between devices or units may be implemented in electronic, mechanical, or other forms.

[0178] 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 place 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.

[0179] In addition, the functional units in the embodiments of the present application may be integrated into one processing unit, and each of the units may exist physically alone, or two or more units may be integrated into one unit.

[0180] 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 this understanding, the technical solution of the present application may essentially or partly 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, a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes any medium capable of storing program code, such as a USB flash drive, a removable hard disk, a ROM, a RAM, a magnetic disk, an optical disk, etc.

[0181] 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 variations or replacements that can be easily conceived by those skilled in the art within the technical scope disclosed in the present 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]

[0182] 100 vehicles 120 Detection System 150 Computing Platforms 151~15n processor 900 Parking Equipment 910 Acquisition Department 920 Processing Section 1000 Parking Equipment 1010 Transmitter / Receiver 1020 Processing section 1100 Parking Equipment 1110 processor 1120 Transceiver 1130 memory

Claims

1. 1. A parking method comprising: acquiring fault indication information when the vehicle is controlled to park in or exit from a parking space based on parking control information received from a mobile device, the fault indication information indicating that at least one of a remote control function of the mobile device, a communication network of the vehicle, and a parking-related actuator of the vehicle has failed; and controlling the vehicle to brake based on the fault indication information.

2. the communication network comprises a first communication network between a remote parking controller and a central gateway control, and the step of controlling the vehicle to brake based on the fault indication information comprises:

2. The method of claim 1, further comprising controlling the vehicle to brake via a second communication network between the remote parking controller and the central gateway control unit if the fault indication information indicates that the first communication network has failed.

3. the communication network comprises a third communication network between an intelligent remote control terminal system and the central gateway controller, and the step of controlling the vehicle to brake based on the fault indication information comprises:

3. The method according to claim 1, further comprising the step of controlling the vehicle to brake via a fourth communication network between the intelligent remote control terminal system and the central gateway control unit when the fault indication information indicates that the third communication network has failed.

4. The method comprises: If the malfunction indication information indicates that the remote control function of the mobile terminal has malfunctioned, controlling the vehicle to enter a remote parking pause state based on the malfunction indication information; or 4. The method of claim 1, further comprising: controlling the vehicle to enter a remote parking exit state based on the fault indication information when the fault indication information indicates that the communication network of the vehicle, the parking-related actuators of the vehicle, or both have failed.

5. After the step of controlling the vehicle to enter a remote park pause state, the method further comprises: controlling the vehicle to transition from the remote parking pause state to the remote parking end state; or 5. The method of claim 4, further comprising: controlling the vehicle to adjust from the remote parking pause state to the remote parking operation state based on first instruction information, the first instruction information indicating that the remote control function of the mobile terminal has been restored.

6. The method comprises: The method of claim 4 or 5, further comprising the step of sending first notification information to the mobile terminal, the first notification information indicating a remote parking situation.

7. The method comprises: receiving braking instruction information transmitted by the mobile terminal in response to a first action of a user; 7. The method of claim 1, further comprising controlling the vehicle to brake based on the braking instruction information.

8. Before the step of receiving braking instruction information transmitted by the mobile terminal in response to a first action of a user, the method further comprises:

8. The method of claim 7, further comprising the step of transmitting information about obstacles around the vehicle to the mobile device, the information about the obstacles indicating a distance between the vehicle and the obstacles around the vehicle.

9. 9. The method of claim 1, wherein the failure of the remote control function of the mobile terminal includes at least one of the following: the mobile terminal exiting a monitoring interface, which is used to display a process in which the vehicle is controlled to park in or exit the parking space; a virtual key on the mobile terminal that is used to control the vehicle to park in or exit the parking space not working; and a key on the mobile terminal that is used to control the vehicle to park in or exit the parking space being uncontrollable.

10. A parking device, the device including an acquisition unit and a processing unit, the acquisition unit: The vehicle is configured to obtain fault indication information when the vehicle is controlled to park in or exit from a parking space based on parking control information received from a mobile device, the fault indication information indicating that at least one of a remote control function of the mobile device, a communication network of the vehicle, and a parking-related actuator of the vehicle has failed; The apparatus, wherein the processing unit is configured to control the vehicle to brake based on the fault indication information.

11. The communication network comprises a first communication network between a remote parking controller and a central gateway control unit, and the processing unit:

11. The apparatus of claim 10, configured to control the vehicle to brake via a second communication network between the remote parking controller and the central gateway control unit if the fault indication information indicates that the first communication network has failed.

12. The communication network comprises a third communication network between an intelligent remote control terminal system and the central gateway control unit, and the processing unit:

12. The apparatus according to claim 10 or 11, configured to control the vehicle to brake via a fourth communication network between the intelligent remote control terminal system and the central gateway control unit when the fault indication information indicates that the third communication network has failed.

13. The processing unit When the malfunction indication information indicates that the remote control function of the mobile terminal has malfunctioned, controlling the vehicle to enter a remote parking pause state based on the malfunction indication information; or 13. The apparatus of claim 10, further configured to: control the vehicle to enter a remote parking exit state based on the fault indication information if the fault indication information indicates that the communication network of the vehicle, the parking-related actuators of the vehicle, or both have failed.

14. After the step of controlling the vehicle to enter a remote park pause state, the processing unit: Controlling the vehicle to transition from the remote parking pause state to the remote parking end state; or 14. The device of claim 13, further configured to: control the vehicle to change from the remote parking pause state to the remote parking operation state based on first instruction information, the first instruction information indicating that the remote control function of the mobile terminal has been restored.

15. The acquisition unit 15. The apparatus of claim 13 or 14, further configured to: send first notification information to the mobile terminal, the first notification information indicating a remote parking situation.

16. The acquisition unit further configured to receive braking instruction information transmitted by the mobile terminal in response to a first action of a user; 16. The apparatus of claim 10, wherein the processing unit is further configured to control the vehicle to brake based on the braking instruction information.

17. Before the step of receiving braking instruction information transmitted by the mobile terminal in response to a first action of a user, the acquisition unit:

17. The apparatus of claim 16, further configured to transmit information about obstacles around the vehicle to a mobile device, the information about the obstacles indicating a distance between the vehicle and the obstacles around the vehicle.

18. 18. The device of claim 10, wherein the failure of the remote control function of the mobile terminal includes at least one of the following: the mobile terminal exiting a monitoring interface, the monitoring interface being used to display a process in which the vehicle is controlled to park in or exit the parking space; a virtual key on the mobile terminal that is used to control the vehicle to park in or exit the parking space not working; and a key on the mobile terminal that is used to control the vehicle to park in or exit the parking space being uncontrollable.

19. A parking device, a memory configured to store a computer program; a processor configured to execute the computer program stored in the memory to enable the apparatus to perform the method of any one of claims 1 to 9.

20. A vehicle comprising a device according to any one of claims 10 to 19.

21. 10. A computer-readable storage medium having stored thereon instructions that, when executed by a processor, enable the processor to perform the method of any one of claims 1 to 9.

22. A chip, the chip comprising circuitry, the circuitry configured to perform the method of any one of claims 1 to 9.

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