Parking method and apparatus, and intelligent driving device

Abstract

A parking method and apparatus, as well as an intelligent driving device, are provided. The method includes the steps of detecting a reference object within a preset range of the intelligent driving device when a remote parking command sent by a mobile terminal is received, determining a height difference between a first plane on which the reference object is located and a second plane on which the intelligent driving device is located, and disabling the remote parking function when the height difference is equal to or greater than a first preset threshold. The control method can be applied to intelligent driving devices, such as new energy vehicles or electric vehicles. When a user enables remote parking, if the intelligent driving device is in a high position and there is a risk of falling, remote parking is terminated to prevent the intelligent driving device from falling from a high position. This helps to improve the safety of the intelligent driving device and the personal safety of pedestrians around the intelligent driving device. Furthermore, if the intelligent driving device is in a sunken parking space and there is a risk of collision, remote parking is terminated to prevent the intelligent driving device from colliding with the surrounding wall of the sunken parking space. This helps to improve the safety of the intelligent driving device.

Description

[Technical Field]

[0001] This application claims priority to Chinese Patent Application No. 202310119000.2, entitled "Parking Method and Apparatus, and Intelligent Driving Device," filed with the State Intellectual Property Office on January 18, 2023, the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the field of intelligent driving, and more particularly to parking methods and apparatuses, and intelligent driving devices. [Background technology]

[0003] Automated parking (AP) refers to a vehicle being automatically parked in a parking space. Specifically, an automated driving system can semi-automatically or fully automatically assist a user in parking a vehicle in a parking space. Automated parking may include auto parking assist (APA), remote parking assist (RPA), auto valet parking (AVP), etc.

[0004] Current automated parking systems generally assist vehicles in parking into and out of flat parking spaces. After a vehicle is parked in a mechanical parking space and the mechanical parking space rises to a high position, if a user activates a remote parking function, the vehicle may fall from the high position, which may result in property damage to the user and even seriously threaten the user's personal safety.

[0005] Taking this into consideration, parking solutions that can urgently improve vehicle safety need to be developed. Summary of the Invention

[0006] The present application provides a parking method and apparatus, and an intelligent driving device, for improving safety in the vehicle parking process. [Means for solving the problem]

[0007] According to a first aspect, there is provided a parking method, which may be performed by an intelligent driving device, or by a computing platform of the intelligent driving device, or by a chip or circuit used in the intelligent driving device.

[0008] The intelligent driving device in this application may include road transportation means, water transportation means, air transportation means, industrial devices, agricultural devices, entertainment devices, etc. For example, the intelligent driving device may be a vehicle. The vehicle is a vehicle in a broad sense and may be a transportation means (e.g., a commercial vehicle, a passenger car, a motorcycle, an aircraft, or a train), an industrial vehicle (e.g., a pallet 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 specifically limited in the embodiments of this application. As another example, the intelligent driving device may be a transportation means such as an airplane or a ship.

[0009] The method includes the steps of detecting a reference object within a preset range of the intelligent driving device when a remote parking command sent by the mobile terminal is received, determining a height difference between a first plane on which the reference object is located and a second plane on which the intelligent driving device is located, and disabling the remote parking function when the height difference is equal to or greater than a first preset threshold.

[0010] In the above technical solution, when a user of an intelligent driving device enables remote parking, the intelligent driving device first determines whether the intelligent driving device is in an elevated position or a sunken parking space. When the intelligent driving device is in an elevated position and is at risk of falling, the intelligent driving device can be controlled to terminate the remote parking procedure to prevent the intelligent driving device from falling from the elevated position. This helps to improve the safety of the intelligent driving device and the personal safety of pedestrians around the intelligent driving device. When the intelligent driving device is in a sunken parking space and is at risk of collision, the remote parking procedure can be controlled to terminate to prevent the intelligent driving device from colliding with the surrounding wall of the sunken parking space. This helps to improve the safety of the intelligent driving device.

[0011] For example, the preset range may be a range of 3 meters away from the outer contour of the intelligent driving device, or may be another range.

[0012] For example, the first preset threshold may be 20 centimeters, 30 centimeters, or another value.

[0013] For example, reference objects may include, but are not limited to, pedestrians around the intelligent driving device, objects with fixed heights, and objects whose heights are specified by relevant standards. Pedestrians around the intelligent driving device may include the user of the intelligent driving device.

[0014] It should be understood that after the remote parking function is disabled, the user cannot control the intelligent driving device to move by using the mobile terminal.

[0015] It should be noted that in this application, the height difference between the first plane and the second plane may also be the height difference between the extension of the first plane and the extension of the second plane. When both the intelligent driving device and the user are on the same slope, the height difference between the user and the intelligent driving device may be greater than or equal to the first preset threshold. However, in this case, the extension of the plane on which the intelligent driving device is located and the extension of the plane on which the user is located are the same plane, that is, the height difference between the plane on which the intelligent driving device is located and the plane on which the user is located is zero. Therefore, readers should pay attention to the difference between the height difference between the user and the intelligent driving device and the height difference between the plane on which the intelligent driving device is located and the plane on which the user is located.

[0016] Referring to the first aspect, in some implementations of the first aspect, the reference object includes a user of the intelligent driving device, and before the step of determining the height difference between a first plane in which the reference object is located and a second plane in which the intelligent driving device is located, the method further includes a step of controlling the mobile terminal to notify the user to enter a preset range.

[0017] In some possible implementations, the mobile terminal is controlled to notify the user to enter a preset area of ​​the intelligent driving device, and the preset range includes the preset area.

[0018] In some possible implementations, when a reference object within a preset range of the intelligent driving device is not detected, the mobile terminal is controlled to notify the user to enter a preset area of ​​the intelligent driving device. For example, when a reference object is not detected within a preset range of the intelligent driving device within a first preset period after receiving a remote parking command sent by the mobile terminal, the mobile terminal is controlled to notify the user to enter a preset area of ​​the intelligent driving device. For example, the first preset period may be 3 seconds or another period.

[0019] For example, the preset area may include a head fixation area and / or a tail fixation area of ​​the intelligent driving device, or the preset area may include a sensing area of ​​a sensor of the intelligent driving device.

[0020] In the above technical solution, a reference object is added to the intelligent driving device by notifying the user to enter a pre-defined area, which improves the reliability of the remote parking system.

[0021] Referring to the first aspect, in some implementations of the first aspect, the preset range includes a preset area of ​​a vehicle head of the intelligent driving device, and the step of controlling the mobile terminal to notify the user to enter the preset range includes the step of controlling the mobile terminal to notify the user to enter the preset area of ​​the vehicle head.

[0022] In the above-mentioned technical solutions, the vehicle head is usually facing the opening (or entrance) of the mechanical parking space. Therefore, the user is notified to enter a predetermined area of ​​the vehicle head, and as a result, the user enters the notified predetermined range, which helps to improve the user experience.

[0023] Referring to the first aspect, in some implementations of the first aspect, the step of determining a height difference between a first plane in which the reference object is located and a second plane in which the intelligent driving device is located includes a step of determining that the height difference is greater than or equal to a first preset threshold when the user is not detected within a preset range within a preset period starting from a step of controlling the mobile terminal to notify the user to enter the preset range.

[0024] For example, the preset period may be 10 seconds, 5 seconds, or some other value.

[0025] In some possible implementations, if a reference object is not detected within a preset range of the intelligent driving device within a first preset period after receiving a remote parking command sent by the mobile terminal, the mobile terminal is controlled to notify the user to enter a preset area of ​​the intelligent driving device. If a user is not detected within a preset period after the mobile terminal is controlled to notify the user to enter the preset area, it is determined that the height difference between the first plane and the second plane on which the user is located is equal to or greater than a first preset threshold, and the remote parking function is disabled.

[0026] In the aforementioned technical solutions, some intelligent driving devices lack the ability to detect negative obstacles. In this case, when the intelligent driving device is located in a high position and the user's highest position on the first plane is lower than the plane on which the intelligent driving device is located, the intelligent driving device cannot detect the user. Alternatively, the intelligent driving device may be located in a sunken parking space, and the intelligent driving device's sensors may be blocked by obstacles such as the surrounding walls of the sunken parking space. As a result, the user on the first plane cannot be recognized. Therefore, when a user is not detected within a preset period, the intelligent driving device may be considered to be in a high or sunken parking space and not suitable for remote parking. In this case, the remote parking function is disabled. This helps improve the reliability of the remote parking system and the intelligence of the intelligent driving device.

[0027] In some embodiments of the first aspect, the reference object includes a pedestrian around the intelligent driving device, and determining a height difference between a first plane on which the reference object is located and a second plane on which the intelligent driving device is located includes determining a height difference between the first plane on which the pedestrian is located and the second plane on which the pedestrian is located based on a human body characteristic of the pedestrian.

[0028] For example, the body features may include the positions of body keypoints in three-dimensional space, and may further include features such as height and age.

[0029] In one embodiment, the height difference between the first plane and the second plane is determined based on the positions of the body keypoints in three-dimensional space and the position of the second plane in three-dimensional space.

[0030] Referring to the first aspect, in some implementations of the first aspect, the step of determining a height difference between a first plane in which the reference object is located and a second plane in which the intelligent driving device is located includes a step of determining the height difference based on a relationship between the height of the reference object and a predetermined height threshold.

[0031] For example, when the height of the reference object is less than or equal to a preset height threshold, it is determined that the first plane on which the reference object is located is lower than the second plane on which the intelligent driving device is located, and the height difference between the first plane and the second plane is greater than or equal to a first preset threshold.

[0032] In one example, when the intelligent driving device stores height information of the user of the intelligent driving device, the preset height threshold may be the user's height (e.g., 165 centimeters) or a height (e.g., 155 centimeters) obtained by subtracting a corresponding error from the user's height. The corresponding error may be 10 centimeters or another value. Furthermore, when the user's height is equal to or less than the preset height threshold, it may be considered that the first plane on which the user is located is lower than the second plane, and the height difference between the first plane and the second plane is equal to or greater than the first preset threshold.

[0033] Referring to the first aspect, in some implementations of the first aspect, before the step of detecting a reference object around the intelligent driving device, the method further includes a step of determining that the intelligent driving device is located within a mechanical parking space.

[0034] In the above technical solution, when the intelligent driving device is detected to be located in a mechanical parking space, the height difference determination procedure is enabled, so that when the intelligent driving device is parked in a non-mechanical parking space, the height difference determination procedure does not need to be performed, which helps to reduce the computing power required for controlling remote parking.

[0035] Referring to the first aspect, in some implementations of the first aspect, the method further includes controlling the mobile terminal to notify a user of the intelligent driving device that the remote parking function has been disabled.

[0036] For example, the user may be notified to perform remote parking after the intelligent driving device has been lowered to the ground or raised to the ground.

[0037] In the above technical solution, the user can be notified that the intelligent driving device is not allowed to perform remote parking in the current state, so that the user can take measures in a timely manner, thereby improving the user experience.

[0038] Referring to the first aspect, in some implementations of the first aspect, the method further includes a step of controlling the intelligent driving device to park based on a remote parking command when the height difference is less than a second preset threshold, wherein the second preset threshold is less than or equal to the first preset threshold.

[0039] For example, the second preset threshold may be 10 centimeters, 20 centimeters, or another value.

[0040] In the above technical solution, when the height difference between the first plane and the second plane is less than a certain height, the height difference between the first plane and the second plane will not affect the parking or exiting of the intelligent driving device, and in this case, remote parking can be performed by using a mobile terminal.

[0041] Referring to the first aspect, in some implementations of the first aspect, disabling the remote parking function includes disabling the remote parking function when the height difference is equal to or greater than a first preset threshold and the first plane is lower than the second plane.

[0042] According to a second aspect, a parking method is provided, the method including: detecting a reference object around an intelligent driving device when a remote parking command sent by a mobile terminal is received; and disabling a remote parking function when the reference object is not detected within a preset period of time, or disabling the remote parking function when it is determined that the height at which the reference object is located is equal to or less than a preset height threshold.

[0043] Referring to the second aspect, in some implementations of the second aspect, the reference object includes a user of the intelligent driving device, and prior to the step of disabling the remote parking function when the reference object is not detected within a preset period, the method further includes a step of controlling the mobile terminal to notify the user to enter a preset area of ​​the intelligent driving device. The step of disabling the remote parking function when the reference object is not detected within a preset period includes a step of disabling the remote parking function when the user is not detected within the preset area within a preset period.

[0044] Referring to the second aspect, in some implementations of the second aspect, the reference object includes a pedestrian around the intelligent driving device, and the method further includes determining, based on the pedestrian's body characteristics, that the height at which the pedestrian is located is equal to or less than a predetermined height threshold.

[0045] Referring to the second aspect, in some implementations of the second aspect, before the step of detecting a reference object around the intelligent driving device, the method further includes a step of determining that the intelligent driving device is located within a mechanical parking space.

[0046] Referring to the second aspect, in some implementations of the second aspect, the method further includes controlling the mobile terminal to notify a user of the intelligent driving device that the remote parking function has been disabled.

[0047] Referring to the second aspect, in some implementations of the second aspect, the method further includes controlling the intelligent driving device to park based on a remote parking command when the reference object is detected within a predetermined period of time and the height at which the reference object is located is greater than a predetermined height threshold.

[0048] Referring to the second aspect, in some implementations of the second aspect, before the step of controlling the intelligent driving device to park based on the remote parking command, the method further includes a step of controlling the mobile terminal to notify a user of the intelligent driving device to perform remote parking.

[0049] According to a third aspect, a parking apparatus is provided. The apparatus includes a transceiver unit, a detection unit, a determination unit, and a processing unit. The detection unit is configured to detect a reference object within a preset range of the intelligent driving device when the transceiver unit receives a remote parking command transmitted by the mobile terminal. The determination unit is configured to determine a height difference between a first plane on which the reference object is located and a second plane on which the intelligent driving device is located. The processing unit is configured to disable the remote parking function when the height difference is equal to or greater than a first preset threshold.

[0050] Referring to the third aspect, in some implementations of the third aspect, the reference object includes a user of the intelligent driving device, and the processing unit is further configured to control the mobile terminal to notify the user to enter a predetermined range before the determination unit determines the height difference between a first plane in which the reference object is located and a second plane in which the intelligent driving device is located.

[0051] Referring to the third aspect, in some implementations of the third aspect, the preset range includes a preset area of ​​a vehicle head of the intelligent driving device, and the processing unit is configured to control the mobile terminal to notify the user to enter the preset area of ​​the vehicle head.

[0052] Referring to the third aspect, in some implementations of the third aspect, the determination unit is configured to determine that the height difference is greater than or equal to a first preset threshold when the user is not detected within the preset range within a preset period starting from the step of controlling the mobile terminal to notify the user to enter the preset range.

[0053] Referring to the third aspect, in some implementations of the third aspect, the reference object includes a pedestrian around the intelligent driving device, and the determination unit is configured to determine a height difference between a first plane and a second plane on which the pedestrian is located based on the pedestrian's body characteristics.

[0054] Referring to the third aspect, in some implementations of the third aspect, the determination unit is configured to determine the height difference based on a relationship between the height of the reference object and a preset height threshold.

[0055] Referring to the third aspect, in some implementations of the third aspect, the processing unit is further configured to determine that the intelligent driving device is located in a mechanical parking space before the detection unit detects a reference object around the intelligent driving device.

[0056] Referring to the third aspect, in some implementations of the third aspect, the processing unit is further configured to control the mobile terminal to notify a user of the intelligent driving device that the remote parking function has been disabled.

[0057] Referring to the third aspect, in some implementations of the third aspect, the processing unit is further configured to control the intelligent driving device to park based on the remote parking command when the height difference is less than a second preset threshold, and the second preset threshold is less than or equal to the first preset threshold.

[0058] Referring to the third aspect, in some implementations of the third aspect, the processing unit is configured to disable the remote parking function when the height difference is equal to or greater than a first preset threshold and the first plane is lower than the second plane.

[0059] According to a fourth aspect, a parking apparatus is provided. The apparatus includes a transceiver unit, a detection unit, a determination unit, and a processing unit. The detection unit is configured to detect a reference object around the intelligent driving device when the transceiver unit receives a remote parking command transmitted by the mobile terminal. The processing unit is configured to disable a remote parking function when the detection unit does not detect the reference object within a preset period of time, or when it determines that the height at which the reference object is located is equal to or less than a preset height threshold.

[0060] Referring to the fourth aspect, in some implementations of the fourth aspect, the device may further perform the method in another possible implementation of the second aspect, and the details will not be repeated here.

[0061] According to a fifth aspect, there is provided a parking apparatus, the apparatus including a memory configured to store a computer program, and a processor configured to execute the computer program stored in the memory, such that the apparatus performs a method according to any one of the possible implementations of the first or second aspect.

[0062] According to a sixth aspect, there is provided an intelligent driving device, the intelligent driving device comprising an apparatus according to any one of the possible implementations of the third to fifth aspects.

[0063] Referring to the sixth aspect, in some implementations of the sixth aspect, the intelligent driving device is a vehicle.

[0064] According to a seventh 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 or second aspect.

[0065] 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.

[0066] According to an eighth aspect, there is provided a computer-readable medium storing instructions which, when executed by a processor, enable the processor to perform a method according to any one of the possible implementations of the first or second aspect.

[0067] According to a ninth 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 or second aspect. [Brief explanation of the drawings]

[0068] [Figure 1] FIG. 1 is a functional block diagram of an intelligent driving device according to an embodiment of the present application. [Figure 2] FIG. 1 is a diagram of a mechanical parking space. [Figure 3]FIG. 1 is a diagram of the system architecture required to implement the 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 is a diagram of a preset region according to an embodiment of the present application. [Figure 6] 4 is another schematic flowchart of a parking method according to an embodiment of the present application. [Figure 7a] 1 is a diagram of an application scenario of a parking method according to an embodiment of the present application; FIG. [Figure 7b] 1 is a diagram of an application scenario of a parking method according to an embodiment of the present application; FIG. [Figure 7c] 1 is a diagram of an application scenario of a parking method according to an embodiment of the present application; FIG. [Figure 7d] 1 is a diagram of an application scenario of a parking method according to an embodiment of the present application; FIG. [Figure 7e] 1 is a diagram of an application scenario of a parking method according to an embodiment of the present application; FIG. [Figure 7f] 1 is a diagram of an application scenario of a parking method according to an embodiment of the present application; FIG. [Figure 7g] 1 is a diagram of an application scenario of a parking method according to an embodiment of the present application; FIG. [Figure 7h] 1 is a diagram of an application scenario of a parking method according to an embodiment of the present application; FIG. [Figure 7i] 1 is a diagram of an application scenario of a parking method according to an embodiment of the present application; FIG. [Figure 8] 1 is a block diagram of a parking device 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; DETAILED DESCRIPTION OF THE INVENTION

[0069] In the description of the embodiments of the present application, unless otherwise specified, " / " indicates "or." For example, A / B may indicate 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 indicate the following three cases: when only A is present, when both A and B are present, and when only B is present. In this application, "at least one" means one or more, and "more than one" 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 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.

[0070] The prefixes "first," "second," etc. in the embodiments of the present application are intended merely to distinguish between different described objects, and do not impose limitations on the position, order, priority, quantity, content, etc. of the described objects. The use of prefixes such as ordinal numbers used to distinguish between described objects in the embodiments of the present application does not constitute limitations on the described objects. For a description of the described objects, please refer to the contextual description in the claims or embodiments, and the use of such prefixes should not constitute redundant limitations.

[0071] To facilitate understanding of the solutions in the embodiments of the present application, the concept of the present application will be explained first.

[0072] 1. Negative obstacle: A negative obstacle is an obstacle whose highest point is lower than the plane on which the intelligent driving device is located. For example, if the plane on which the intelligent driving device is located is a road surface, the negative obstacle may be a ditch, a manhole, a collapsed ground, etc. 2. High obstacle: A high obstacle is an obstacle whose highest point is higher than the plane on which the intelligent driving device is located.

[0073] The following describes the technical solutions of the embodiments in this application with reference to the accompanying drawings.

[0074] 1 is a functional block diagram of an intelligent driving device 100 according to one embodiment of the present application. The intelligent driving device 100 may include a sensing system 120, a communication system 130, and a computing platform 150. The sensing system 120 may include one or more sensors that sense ambient environmental information of the intelligent driving device 100. For example, the sensing system 120 may include a positioning system, which may be a global positioning system (GPS), a BeiDou system or another positioning system, or an inertial measurement unit (IMU). As another example, the sensing system 120 may further include one or more of a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0075] The intelligent driving device 100 interacts with a cloud server, other intelligent driving devices, mobile terminals, etc. by using the communication system 130. The communication system 130 may include a wireless communication system.

[0076] Some or all of the functions of the intelligent driving device 100 may be controlled by a computing platform 150. The computing platform 150 may include one or more processors, such as processors 151 through 15n (where n is a positive integer). A processor is a circuit capable of processing instructions. In one embodiment, the processor may be a circuit capable of reading and executing instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which may also be understood as a microprocessor), or a digital signal processor (DSP). In another embodiment, the 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, the 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 a 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 processor may alternatively be a hardware circuit designed for artificial intelligence and may be understood as an ASIC, such as 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, and some or all of the processors 151 to 15n can access and execute the instructions in the memory to perform corresponding functions.

[0077] The intelligent driving device 100 may include an advanced driving assistance system (ADAS). The ADAS acquires information about the surroundings of the intelligent driving device by using multiple sensors (including, but not limited to, lidar, millimeter-wave radar, camera devices, ultrasonic sensors, global positioning systems, and inertial measurement units) on the intelligent driving device, and analyzes and processes the acquired information to implement functions such as obstacle sensing, target recognition, intelligent driving device positioning, route planning, and user monitoring / attention, thereby improving the driving safety, automation, and comfort of the intelligent driving device.

[0078] In terms of logical functions, an ADAS system generally includes three main functional modules: a sensing module, a decision module, and an execution module. The sensing module senses the vehicle's surrounding environment by using sensors and inputs corresponding real-time data to the decision processing center. The sensing module mainly includes an on-board camera, an ultrasonic radar, a millimeter-wave radar, a lidar, etc. Based on the information acquired by the sensing module, the decision module makes a corresponding decision by using a computing device and an algorithm. After receiving a decision command from the decision module, the execution module performs a corresponding action, such as driving, changing lanes, steering, braking, or issuing an alert.

[0079] At different levels of automation (L0-L5), ADAS can implement different levels of autonomous driving assistance based on information obtained by using artificial intelligence algorithms and multiple sensors. The autonomous driving levels (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. The tasks of levels L1-L3, such as monitoring and responding to road conditions, are completed jointly by the user and the system, requiring the user to take over the dynamic driving task. Levels L4 and L5 allow the user to have a complete role change to passenger. Currently, functions that can be implemented by ADAS mainly include, but are not limited to, adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, forward intersection traffic alert / braking, rearward intersection traffic alert / braking, leading vehicle collision warning, lane departure warning, lane keeping assist, rearward vehicle collision warning, traffic sign recognition, traffic jam assist, highway assist, etc. It should be understood that functions may have specific modes at different autonomous driving levels (L0 to L5). Higher autonomous driving levels indicate more intelligent corresponding modes and require higher accuracy in sensing algorithms and higher accuracy in planning and control algorithms. For example, autonomous parking may include APA, RPA, AVP, etc. In the case of APA, the driver does not need to control the steering wheel but still needs to control the vehicle's throttle and brakes. In the case of RPA, the driver can remotely park the vehicle outside the vehicle by using a terminal (e.g., a mobile phone). In the case of AVP, the vehicle can complete parking without the driver. In terms of corresponding levels of automation, APA is roughly at level L1, RPA is roughly at level L2 or L3, and AVP is roughly at level L4.

[0080] A mechanical parking space is an unfixed parking space that can move up and down, allowing the vehicle to park based on a specific parking logic. Mechanical parking spaces require the overall operation of a transmission mechanism and the switching of spaces to realize the use of a personal parking space. As shown in FIG. 2(a), the mechanical parking space can move up and down via a transmission mechanism 201. Mechanical parking spaces are located on the ground and can include the mechanical parking space shown in FIG. 2(a). Mechanical parking spaces can include elevated parking spaces, such as parking space 202, and above-ground parking spaces, such as parking space 203. The machine can also include sunken mechanical parking spaces, such as shown in FIG. 2(b), where 205 is the ground and the mechanical parking spaces can include sunken parking spaces (also called low parking spaces), such as parking space 206, and elevated parking spaces, such as parking space 207. In some cases, sunken mechanical parking spaces can also include above-ground parking spaces. As described above, if a vehicle is parked in a mechanical parking space and the mechanical parking space rises to a high position, for example, when the vehicle is parked in parking space 202 shown in Fig. 2(a), and the user mistakenly activates the remote parking function, the vehicle may fall from the high position. Alternatively, if a vehicle is parked in a mechanical parking space and the mechanical parking space falls to a low position, and the vehicle is parked in parking space 206 shown in Fig. 2(b), and the user mistakenly activates the remote parking function, the vehicle may collide with the wall surrounding the parking space.

[0081] In view of this, the embodiments of the present application provide a parking method and apparatus, and an intelligent driving device, for recognizing whether a vehicle is located in a mechanical parking space and whether the mechanical parking space is in a high position, and for terminating the remote parking procedure and notifying the user when the mechanical parking space is in a high position, thereby ensuring the safety of the vehicle and the user.

[0082] FIG. 3 is a diagram of a system architecture required to implement a parking method according to one embodiment of the present application. System 300 includes an intelligent driving device and a mobile terminal. The intelligent driving device includes a communication module, a sensing module, a high / low position determination module, and a parking control module. The communication module may include communication system 130 shown in FIG. 1 and is configured to receive remote parking instructions from the mobile terminal. The sensing module may include one or more camera devices or one or more radar sensors in sensing system 120 shown in FIG. 1 and is configured to collect information about the surroundings of the intelligent driving device, such as position information of pedestrians and information about specific reference objects around the intelligent driving device. The high / low position determination module and parking control module may be one or more processors in computing platform 150 shown in FIG. 1. The high / low position determination module is configured to determine whether the intelligent driving device is in a high or low position based on information about the surroundings of the intelligent driving device, such as the relative height between pedestrians and the intelligent driving device, the relative height between a specific reference object and the intelligent driving device, etc. When the intelligent driving device is in a high position or a low position, the high / low position determination module instructs the parking control module to exit the remote parking function and sends a remote parking exit notification to the mobile terminal by using the communication module. When the intelligent driving device is not in a high position, the parking control module controls the intelligent driving device to park based on the remote parking command from the mobile terminal.

[0083] It should be understood that the above-mentioned modules are merely examples. In practical applications, the above-mentioned modules may be added or removed based on practical requirements. For example, in the system architecture shown in Figure 3, the sensing module and the high / low positioning module may be combined into one module.

[0084] 4 is a schematic flowchart of a parking method according to an embodiment of the present application. Method 400 may be applied to the intelligent driving device shown in FIG. 1, or the method may be performed by the system shown in FIG. 3. For example, the following uses an example in which the method is performed by a computing platform of the intelligent driving device for description. Method 400 may include the following steps:

[0085] S401: Detect a reference object within a preset range of the intelligent driving device when a remote parking command sent by a mobile terminal is received.

[0086] For example, the mobile terminal and the intelligent driving device may be the mobile terminal and the intelligent driving device shown in Figure 3, respectively. Alternatively, the intelligent driving device may be the intelligent driving device 100 shown in Figure 1, and the mobile terminal may be a mobile terminal configured to control the intelligent driving device 100.

[0087] For example, mobile terminals may be associated with intelligent driving devices and include various handheld devices with wireless communication capabilities (such as mobile phones and remote keys), wearable devices, computing devices or other processing devices connected to wireless modems, and various forms of terminals, mobile stations, user equipment, etc.

[0088] For example, the preset range may be a range of 3 meters away from the outer contour of the intelligent driving device, or may be another range.

[0089] For example, the reference object may include a pedestrian around the intelligent driving device. The pedestrian around the intelligent driving device may include a user of the intelligent driving device. For example, the user of the intelligent driving device may include a user whose identification information is registered in the intelligent driving device. The identification information may include, but is not limited to, biometric information such as face information, height information, and gait information.

[0090] In some possible implementations, the reference object may further include a specific reference object, which may alternatively be an object at a fixed height or an object whose height is specified in a relevant standard.

[0091] S402: Determine a height difference between a first plane where the reference object is located and a second plane where the intelligent driving device is located.

[0092] For example, the first plane may be lower than the second plane, for example, when the intelligent driving device is located in an elevated parking space (e.g., parking space 202 or 207). Alternatively, the first plane may be higher than the second plane, for example, when the intelligent driving device is located in a sunken parking space (e.g., parking space 206).

[0093] In some possible implementations, before the step of determining the height difference between a first plane in which the reference object is located and a second plane in which the intelligent driving device is located, the method further includes a step of controlling the mobile terminal to notify the user of the intelligent driving device to fall within a preset range.

[0094] For example, the mobile terminal is controlled to notify the user of the intelligent driving device to enter a preset area of ​​the intelligent driving device, and the preset range includes the preset area.

[0095] For example, when a user is not detected within a predetermined area within a predetermined period of time, the height difference between a first plane on which the user is located and a second plane is determined to be greater than or equal to a first predetermined threshold.

[0096] It should be noted that some intelligent driving devices do not have the ability to detect negative obstacles. In this case, when the intelligent driving device is located at an elevated position and the highest point of the reference object on the ground is lower than the plane on which the intelligent driving device is located, the intelligent driving device cannot detect the reference object. Alternatively, the intelligent driving device may be located in a sunken parking space, and the sensor of the intelligent driving device may be blocked by an obstacle such as a wall surrounding the sunken parking space. As a result, the reference object on the ground cannot be recognized. Therefore, if the reference object is not detected within a preset period, the intelligent driving device may be considered to be located at an elevated position or in a sunken parking space, not suitable for remote parking, and the remote parking function may be disabled.

[0097] For example, the preset period may start with controlling the mobile terminal to notify the user of the intelligent driving device to enter a preset area of ​​the intelligent driving device, and the preset period may be 10 seconds, 5 seconds, or other periods.

[0098] For example, the step of controlling the mobile terminal to notify the user of the intelligent driving device to enter a preset area of ​​the intelligent driving device may include the step of sending a relevant instruction to the mobile terminal so that the mobile terminal notifies the user to enter the preset area of ​​the intelligent driving device.

[0099] For example, the preset area may be a sensing area of ​​a sensor of the intelligent driving device. Alternatively, the preset area may be a fixed area of ​​the head and / or tail of the intelligent driving device. For example, as shown in FIG. 5, the intelligent driving device is a vehicle 501. The preset area may include area 1 and / or area 2. In some possible implementations, area 1 (and / or area 2) is symmetrical with respect to a longitudinal symmetry plane 502 of the vehicle 501. It should be understood that the sizes of area 1 and area 2 shown in FIG. 5 are merely examples for illustrative purposes. In a specific implementation process, the size of the preset area may vary depending on the intelligent driving device.

[0100] S403: Disable the remote parking function when the height difference is equal to or greater than a first preset threshold.

[0101] For example, the first preset threshold may be 20 centimeters, 30 centimeters, or another value.

[0102] In some possible implementations, the height difference between the first plane and the second plane is determined to be equal to or greater than the first preset threshold based on the relationship between the height of the reference object and a preset height threshold. For example, when the height of the reference object is equal to or less than the preset height threshold, the first plane on which the reference object is located is lower than the second plane on which the intelligent driving device is located, and the height difference between the first plane and the second plane is determined to be equal to or greater than the first preset threshold.

[0103] In some possible implementations, if the reference object is a user of the intelligent driving device and the intelligent driving device stores height information of the user, the preset height threshold may be the height of the user or may be a height obtained by subtracting a corresponding error from the height of the user, where the corresponding error may be 5 centimeters or another value.

[0104] In some possible implementations, when the intelligent driving device stores height information of multiple users, the intelligent driving device can first determine the user's identity and then determine the user's height information. For example, the user's identity may be determined based on the user's face information, gait information, etc.

[0105] In some possible implementations, if the reference object is a pedestrian, determining that the height difference between the first plane on which the reference object is located and the second plane on which the intelligent driving device is located is equal to or greater than a first preset threshold includes determining that the height difference between the first plane on which the reference object is located and the second plane is equal to or greater than a first preset threshold based on the pedestrian's body characteristics. The body characteristics may include the positions of body key points (e.g., human joints) in three-dimensional space. Alternatively, the body characteristics may further include age, etc.

[0106] In some possible implementations, the intelligent driving device is determined to be located in a mechanical parking space before a reference object is detected around the intelligent driving device.

[0107] In some possible implementations, after the remote parking function is disabled, the mobile terminal is controlled to notify the user of the intelligent driving device that the remote parking function has been disabled. For example, the mobile terminal is controlled to display "The vehicle is currently in a high position. Please lower the vehicle to the ground and then perform remote parking."

[0108] For example, controlling the mobile terminal to notify the user that the remote parking function of the intelligent driving device has been disabled may include sending relevant instructions to the mobile terminal so that the mobile terminal notifies the user that the remote parking function has been disabled.

[0109] In some possible implementations, the intelligent driving device is controlled to park based on a remote parking command when the height difference between the first plane and the second plane is less than a second preset threshold, and the second preset threshold is less than or equal to the first preset threshold.

[0110] For example, the second preset threshold may be 10 centimeters, 20 centimeters, or another value.

[0111] In some possible implementations, if the height difference between the first plane and the second plane is less than a second preset threshold, the mobile terminal is controlled to notify the user of the intelligent driving device that remote parking is ready and can be performed.

[0112] According to the parking method provided in this embodiment of the present application, when the intelligent driving device is located in a high position, such as the second level of a mechanical parking space, and the user activates the remote parking function, the remote parking function can be disabled to prevent the intelligent driving device from falling from the high position. This helps to improve the safety of the intelligent driving device and the personal safety of pedestrians around the intelligent driving device. For example, when the intelligent driving device is located in a low position in a sunken parking space and the user activates the remote parking function, the remote parking function can be disabled to prevent the intelligent driving device from colliding with the surrounding wall of the sunken parking space. This helps to improve the safety of the intelligent driving device.

[0113] 6 is another schematic flowchart of a parking method according to an embodiment of the present application. Method 600 may be applied to the intelligent driving device shown in FIG. 1, or the method may be performed by the system shown in FIG. 3. Method 600 may be understood as an extension of method 400. Method 600 may be performed in parallel with method 400 or after method 400. For example, the following uses an example in which the method is performed by a computing platform of the intelligent driving device for description. Method 600 may include the following steps:

[0114] S601: Receive a remote parking command sent by a mobile terminal.

[0115] For example, the mobile terminal may be the mobile terminal in the above-described embodiment.

[0116] S602: Determine whether the vehicle is located in a mechanical parking space.

[0117] For example, the vehicle may be an example of the intelligent driving device in the above-described embodiments.

[0118] Specifically, if the vehicle is located in a mechanical parking space, S603 is executed; otherwise, S607 is executed.

[0119] For example, while a vehicle is moving to a mechanical parking space, the vehicle collects an image of the mechanical parking space. In this case, whether or not there is a convex edge (as shown in 204 in FIG. 2) at the boundary of the mechanical parking space in the parking space image collected by the vehicle can be detected based on an object detection model for deep learning. If a convex edge is detected, it is determined that the vehicle is currently within the mechanical parking space. If not, the vehicle is not within the mechanical parking space.

[0120] S603: Determine whether there is a reference object around the vehicle.

[0121] For example, the reference object may be the reference object in the previous embodiment.

[0122] Specifically, if a reference object is detected around the vehicle, S605 is executed, otherwise S604 is executed.

[0123] S604: The mobile terminal is controlled to notify the user to stand in front of the vehicle.

[0124] For example, the front of the vehicle may be an example of a pre-defined region in the method 400 .

[0125] For example, as shown in Figure 7a, the mobile device provides a notification saying "No reference object detected. Please stand in front of the vehicle."

[0126] S605: Determine whether the reference object and the vehicle are coplanar.

[0127] For example, when the height difference between the plane on which the reference object is located and the plane on which the vehicle is located is equal to or greater than a first preset threshold, it is determined that the reference object and the vehicle are not coplanar. When the height difference between the plane on which the reference object is located and the plane on which the vehicle is located is less than a second preset threshold, it is determined that the reference object and the vehicle are coplanar. The first preset threshold may be the first preset threshold in method 400, the second preset threshold may be the second preset threshold in method 400, or the first preset threshold and the second preset threshold may be other values.

[0128] Specifically, when the reference object and the vehicle are not on the same plane, S606 is executed, otherwise, S607 is executed.

[0129] In some possible implementations, if the height of the reference object is less than or equal to a preset height threshold, the plane on which the reference object is located is determined to be lower than the plane on which the vehicle is located, and the height difference between the plane on which the reference object is located and the plane on which the vehicle is located is greater than or equal to a first preset threshold.

[0130] For example, if the reference object is a specific reference object in the above-described embodiment, the height of the specific reference object can be determined by using an image recognition algorithm to determine whether the height of the specific reference object is below a preset height threshold.

[0131] For example, the reference object may be the user in S604.

[0132] In some possible implementations, if the vehicle does not support negative obstacle detection or has low accuracy in detecting negative obstacles, the user may still not be detected if the vehicle is positioned too high after the mobile device notifies the user to stand in front of the vehicle. As shown in FIG. 7b, the reference objects include, for example, pedestrians 701 and 702. When the vehicle is located in parking space 703 or parking space 704, the vehicle can detect the reference objects. When the vehicle is located in parking space 705, the vehicle cannot detect the reference objects because the vehicle is positioned too high.

[0133] Alternatively, if the vehicle is located in a sunken parking space, the vehicle's sensors may be blocked by obstacles such as the surrounding walls of the sunken parking space. As a result, a user on the ground may not be recognized. For example, as shown in Figure 7c, the reference object may include a pedestrian 707. If the vehicle is located in parking space 706, the vehicle cannot detect the reference object because the vehicle is positioned too low.

[0134] In the two scenarios described above, it may be determined that the difference between the plane on which the user is located and the plane on which the vehicle is located is greater than or equal to a first preset threshold. In this case, S606 is executed.

[0135] For example, if the reference object is a pedestrian, the positional relationship between the plane on which the pedestrian is located and the plane on which the vehicle is located and the height difference between the two planes may be determined based on the pedestrian's body characteristics.

[0136] For example, the human body features include positions of human body key points (e.g., human joints) in three-dimensional space that are estimated based on human body images by 3D human pose estimation (3D HPE). For example, the human body features of a pedestrian may be determined by using a monocular human body image, or may be determined by using a multi-ocular human body image, or may be determined based on consecutive frames of a video.

[0137] In some possible implementations, images from two or more angles of view are simultaneously input into the autoencoder model, and only 2D feature point information is used as supervision. A 2D pose is input for one angle of view, and a 3D pose output for the other angle of view is predicted based on the transformation relationship between the two angles of view to determine the pedestrian's human pose information. Alternatively, the pedestrian's human body features may be determined using a stereoscopic triangulation method, in which the positions of human body keypoints in 3D space are calculated based on known positions of multiple cameras and the projections of points in space.

[0138] For example, whether the plane on which the pedestrian is located is lower than the plane on which the vehicle is located, and the height difference between the two planes is determined based on the relative position of the human body keypoints with respect to the plane on which the vehicle is located. In the following, an example in which the vehicle is a vehicle 711 and the reference object is a pedestrian 713 is used to describe how to determine the height relationship between the two planes when the vehicle and the pedestrian are in different relative positions.

[0139] 7d shows the relative positional relationship between a vehicle 711 and a pedestrian when the vehicle 711 is located in a parking space 703. Specifically, the vehicle 711 is located on a plane 710, the pedestrian 713 is located on a plane 712, and the planes 710 and 712 are located on the same plane. In the above scenario, the vehicle 711 can recognize that the plane on which the ankle 7131 (an example of a human body key point) of the pedestrian 713 is located is the same plane as the plane on which the vehicle 711 is located. It may also be determined that the plane on which the pedestrian is located is the same plane as the plane on which the vehicle is located.

[0140] FIG. 7e shows the relative positional relationship between a vehicle 711 and a pedestrian when the vehicle 711 is located in a parking space 704. Specifically, the vehicle 711 is located on a plane 710, and the pedestrian 713 is located on a plane 714, which is lower than the plane 710. In the above scenario, the vehicle 711 cannot recognize the ankle 7131 of the pedestrian 713, but can recognize that the plane on which the elbow 7312 (another example of a human body keypoint) of the pedestrian 713 is located is the same plane as the plane on which the vehicle 711 is located. Furthermore, the plane on which the pedestrian is located may be determined to be lower than the plane on which the vehicle is located. The height difference between the plane 710 and the plane 714 may also be determined based on the position of the ankle 7131 and the position of the plane 710 in three-dimensional space.

[0141] 7f illustrates the relative positions of a vehicle 711 and a pedestrian when the vehicle 711 is located in a parking space 705. Specifically, the vehicle 711 is located on a plane 710, and the pedestrian 713 is located on a plane 715, which is much lower than the plane 710. In the aforementioned scenario, the vehicle 711 cannot recognize the pedestrian 713. Furthermore, it may be determined that the height difference between the plane on which the pedestrian is located and the plane on which the vehicle is located is greater than a first preset threshold.

[0142] 7g illustrates the relative positions of a vehicle and a pedestrian when the vehicle 711 is located in a parking space 706. Specifically, the vehicle 711 is located on a plane 710, the pedestrian 713 is located on a plane 716, and the plane 715 is higher than the plane 710. In the above scenario, the vehicle 711 can recognize the ankle 7131 of the pedestrian 713. Furthermore, it may be determined that the plane on which the pedestrian is located is higher than the plane on which the vehicle is located. The height difference between the planes 710 and 716 may also be determined based on the position of the ankle and the position of the plane 710 in three-dimensional space.

[0143] It should be understood that plane 712 , plane 714 , plane 715 , and plane 716 are some examples of a first plane in method 400 , and plane 710 is an example of a second plane in method 400 .

[0144] 7a to 7i are merely illustrative examples. In a specific implementation, the mechanical parking space may include more parking space layers, for example, three or six layers, and vehicles may be parked in parking spaces in higher or lower layers. The method in this application may be applied to the above-mentioned scenarios.

[0145] S606: End the remote parking procedure and notify the user to lower or raise the vehicle to the ground.

[0146] In some possible implementations, when the vehicle finishes the remote parking procedure, relevant instructions are sent to the mobile terminal, so that the mobile terminal notifies the user that remote parking has finished.

[0147] For example, as shown in Figure 7h, the vehicle controls the mobile terminal to display "The vehicle is currently in a high position. Please lower the vehicle to the ground and then perform remote parking," to notify the user that remote parking is ending.

[0148] As another example, as shown in FIG. 7i, the vehicle controls the mobile terminal to display, "The vehicle is currently located in a sunken parking space. Please raise the vehicle to the ground and then perform remote parking," to notify the user that remote parking is ending.

[0149] S607: Execute parking based on the remote parking command.

[0150] Generally, RPA assists in parking into and exiting from mechanical parking spaces. When a vehicle is parked in a mechanical parking space, the user may not check whether the vehicle is located in a high-rise space or a sunken parking space before using the RPA function. As a result, the vehicle may bump into or collide with the parking space. According to the parking method provided in this embodiment of the present application, when a vehicle is parked in a mechanical parking space, even if the user activates the RPA function, the vehicle may be controlled to terminate the remote parking procedure based on information indicating that the vehicle is in a high position to prevent the vehicle from falling from the high position. Alternatively, the vehicle may be controlled to terminate the remote parking procedure based on information indicating that the vehicle is in a sunken parking space to prevent the vehicle from colliding with the surrounding wall of the sunken parking space.

[0151] In the embodiments of the present application, unless otherwise specified or there is no logical contradiction, the terms and / or descriptions between the embodiments are consistent and may be cross-referenced, and the technical features of different embodiments may be combined into new embodiments based on their internal logical relationships.

[0152] The method provided in the embodiment of the present application has been described in detail above with reference to Figures 1 to 7i. The device provided in the embodiment of the present application will be described in detail below with reference to Figures 8 and 9. 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.

[0153] 8 is a block diagram of a parking device 2000 according to an embodiment of the present application. The device 2000 includes a transceiver unit 2010, a detecting unit 2020, a determining unit 2030, and a processing unit 2040.

[0154] The apparatus 2000 may include units configured to perform the methods of Figures 4 and 6. In addition, the units in the apparatus 2000 are configured to implement corresponding procedures of the method embodiments of Figures 4 and 6, respectively.

[0155] When the apparatus 2000 is configured to perform the method 400 of FIG. 4, the transceiver unit 2010 and the detection unit 2020 may be configured to perform S401 of the method 400, the determination unit 2030 may be configured to perform S402 of the method 400, and the processing unit 2040 may be configured to perform S403 of the method 400.

[0156] Specifically, the detection unit 2020 is configured to detect a reference object within a preset range of the intelligent driving device when the transceiver unit 2010 receives a remote parking command sent by the mobile terminal. The determination unit 2030 is configured to determine a height difference between a first plane on which the reference object is located and a second plane on which the intelligent driving device is located. The processing unit 2040 is configured to disable the remote parking function when the height difference is equal to or greater than a first preset threshold.

[0157] In some possible implementations, the reference object includes a user of the intelligent driving device. The processing unit 2040 is further configured to control the mobile terminal to notify the user to enter a preset range before the determining unit 2030 determines the height difference between the first plane in which the reference object is located and the second plane in which the intelligent driving device is located.

[0158] In some possible implementations, the preset range includes a preset area of ​​the vehicle head of the intelligent driving device, and the processing unit 2040 is configured to control the mobile terminal to notify the user to enter the preset area of ​​the vehicle head.

[0159] In some possible implementations, the determining unit 2030 is configured to determine that the height difference is greater than or equal to a first preset threshold when the user is not detected within the preset range within a preset period starting from the step of controlling the mobile terminal to notify the user to enter the preset range.

[0160] In some possible implementations, the reference object includes a pedestrian around the intelligent driving device, and the determining unit 2030 is configured to determine a height difference between a first plane and a second plane in which the pedestrian is located based on the pedestrian's body characteristics.

[0161] In some possible implementations, the processing unit 2040 is further configured to determine that the intelligent driving device is located in a mechanical parking space before the detection unit 2020 detects a reference object around the intelligent driving device.

[0162] In some possible implementations, the processing unit 2040 is further configured to control the mobile terminal to notify a user of the intelligent driving device that the remote parking function has been disabled.

[0163] In some possible implementations, the processing unit 2040 is further configured to control the intelligent driving device to park based on the remote parking command when the height difference is less than a second preset threshold, the second preset threshold being less than or equal to the first preset threshold.

[0164] In some possible implementations, the processing unit 2040 is configured to disable the remote parking function when the height difference is greater than or equal to a first preset threshold and the first plane is lower than the second plane.

[0165] For example, the transceiver unit 2010, the detection unit 2020, the determination unit 2030, and the processing unit 2040 may be disposed in the intelligent driving device 100 shown in FIG. 1. More specifically, the transceiver unit 2010, the detection unit 2020, the determination unit 2030, and the processing unit 2040 may be disposed in the computing platform 150 shown in FIG. 1. For example, the transceiver unit 2010, the detection unit 2020, the determination unit 2030, and the processing unit 2040 may be further disposed in the system shown in FIG. 3. For example, the transceiver unit 2010 may include the communication module shown in FIG. 3, and the detection unit 2020 may include the sensing module shown in FIG. 3. The determination unit 2030 may include the high / low position determination module shown in FIG. 3, and the processing unit 2040 may include the parking control module shown in FIG. 3.

[0166] It should be understood that the above-described division of the units in the device is merely a logical division of functions. In actual implementation, all or some of the units may be integrated into one physical entity or physically separated. In addition, the units in the device may be implemented in the form of software called by a processor. For example, the device may include a processor connected to a memory, which stores instructions, and the processor calls the instructions stored in the memory to perform any one of the above-described methods or to perform the functions of the units in the device. The processor may be, for example, 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 in 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. The hardware circuits 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 above-described units are implemented by designing the logical relationships between elements in the circuit. As another example, in another embodiment, the hardware circuit may be implemented by using a PLD. An FPGA is used as an example. The hardware circuit may include a number of logic gate circuits, and the connections between the logic gate circuits are configured to implement some or all of the functions of the aforementioned units by using a configuration file. All of the units in the aforementioned device 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 of the 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.

[0167] Each unit in the aforementioned apparatus may be one or more processors (or processing circuits) configured to perform the aforementioned method, such as a CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, or FPGA, or a combination of at least two of these processor forms.

[0168] 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 perform the functions of the units in the device. The at least one processor may be of different types; for example, the at least one processor may include a CPU and an FPGA, a CPU and an artificial intelligence processor, or a CPU and a GPU.

[0169] In a specific implementation process, the operations performed by the transceiver unit 2010, the detection unit 2020, the determination unit 2030, and the processing unit 2040 may be performed by one processor or different processors. During a specific implementation process, one or more processors may be processors disposed in the computing platform 150 shown in FIG. 1, or the apparatus 2000 may be a chip disposed in the intelligent driving device 100.

[0170] FIG. 9 is a block diagram of a parking device according to one embodiment of the present application. The parking device 2100 shown in FIG. 9 may include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, the transceiver 2120, and the memory 2130 are connected using an internal connection path. The memory 2130 is configured to store instructions. The processor 2110 is configured to execute the instructions stored in the memory 2130 to perform the parking method in the above-mentioned embodiment. Optionally, the memory 2130 may be coupled to the processor 2110 by using an interface or may be integrated into the processor 2110.

[0171] To facilitate communication between the apparatus 2100 and another device or communication network, the transceiver 2120 may include a transceiver device, such as, but not limited to, an input / output interface.

[0172] The memory 2130 may be a read only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM).

[0173] The transceiver 2120 implements communication between the apparatus 2100 and another device or communication network using, for example, but not limited to, a transceiver device of a transceiver type, and receives / transmits data / information used to implement the parking method in the above-described embodiments.

[0174] In a specific implementation process, the apparatus 2100 may be disposed in the computing platform 150 shown in FIG. 1 or in the intelligent driving device shown in FIG.

[0175] An embodiment of the present application further provides an intelligent driving device, which includes the aforementioned device 2000 or the aforementioned device 2100.

[0176] In some possible implementations, the intelligent driving device may be a vehicle.

[0177] 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 in the aforementioned embodiment of the present application.

[0178] An embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions, which, when executed on a computer, enable the computer to perform the method in the aforementioned embodiment of the present application.

[0179] An embodiment of the present application further provides a chip including a circuit configured to perform the aforementioned method of the embodiment of the present application.

[0180] In one implementation process, the steps in the above-mentioned method can be implemented by using hardware integrated logic circuits in a processor or by using instructions in the form of software. The communication methods disclosed with reference to the embodiments of the present application may be performed directly by a hardware processor or by using 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 above-mentioned method in combination with the hardware of the processor. To avoid repetition, details will not be described again here.

[0181] For the sake of convenient and concise description, those skilled in the art can clearly understand that for the detailed operation processes of the above-mentioned systems, devices and units, please refer to the corresponding processes in the above-mentioned method embodiments, and the details will not be repeated here.

[0182] With respect to some embodiments provided herein, it should be understood that the disclosed systems, devices, and methods may be implemented in other ways. For example, the described device embodiments are merely examples. For example, the division into units is merely a logical division of function. In actual implementation, other division schemes may be used. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored 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 electronically, mechanically, or in other forms.

[0183] 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 according to actual requirements to achieve the objectives of the solutions in the embodiments.

[0184] 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.

[0185] The above description is merely a specific embodiment of the present application and does not 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]

[0186] 100 Intelligent Driving Devices 120 Sensing System 130 Communication Systems 150 Computing Platforms 151 processors 201 Transmission Mechanism 202 parking spaces 203 Parking Spaces 206 parking spaces 207 Parking Spaces 300 System 400 ways 501 vehicles 502 Longitudinal Symmetry Plane 600 ways 701 Pedestrians 702 pedestrians 703 Parking Spaces 704 parking spaces 705 parking spaces 706 parking spaces 707 Pedestrians 710 plane 711 vehicles 712 plane 713 Pedestrians 714 plane 715 plane 716 plane 900 equipment 2000 Parking Equipment 2010 Transceiver Unit 2020 Detection Unit 2030 Decision Unit 2040 processing units 2100 Parking Equipment 2110 processor 2120 transceiver 2130 memory 7131 Ankle 7312 Elbow

Claims

1. Detecting a reference object within a preset range of the intelligent driving device when a remote parking command sent by the mobile terminal is received; Determining a height difference between a first plane where the reference object is located and a second plane where the intelligent driving device is located; disabling the remote parking function when the height difference is equal to or greater than a first preset threshold; Parking methods, including:

2. The reference object includes a user of the intelligent driving device, and before the step of determining a height difference between a first plane in which the reference object is located and a second plane in which the intelligent driving device is located, the method includes: controlling the mobile terminal to notify the user to enter the preset range. The method of claim 1 further comprising:

3. The predetermined range includes a predetermined area of ​​the vehicle head of the intelligent driving device, and the step of controlling the mobile terminal to notify the user to enter the predetermined range includes: controlling the mobile terminal to notify the user to enter the predetermined area at the head of the vehicle.

3. The method of claim 2, comprising:

4. The method comprises: determining that the height difference is equal to or greater than the first preset threshold when the user is not detected within the preset range within a preset period starting from the step of controlling the mobile terminal to notify the user to enter the preset range.

4. The method of claim 2 or 3, further comprising:

5. The reference object includes a pedestrian around the intelligent driving device, and the step of determining a height difference between a first plane in which the reference object is located and a second plane in which the intelligent driving device is located includes: determining the height difference between the first plane and the second plane in which the pedestrian is located based on the pedestrian's anthropometric characteristics; 5. The method of claim 1, comprising:

6. Before the step of detecting a reference object around the intelligent driving device, the method includes: determining that the intelligent driving device is located in a mechanical parking space; 6. The method of claim 1, further comprising:

7. The method comprises: controlling the mobile terminal to notify a user of the intelligent driving device that the remote parking function has been disabled.

7. The method of claim 1, further comprising:

8. The method comprises: controlling the intelligent driving device to park based on the remote parking command when the height difference is less than a second preset threshold, wherein the second preset threshold is less than or equal to the first preset threshold; 8. The method of claim 1, further comprising:

9. The step of disabling the remote parking function when the height difference is equal to or greater than a first preset threshold includes: Disabling the remote parking function when the height difference is equal to or greater than the first preset threshold and the first plane is lower than the second plane.

9. The method of any one of claims 1 to 8, comprising:

10. a transceiver unit, a detection unit, a determination unit, and a processing unit; Equipped with The detection unit is configured to detect a reference object within a preset range of the intelligent driving device when the transceiver unit receives a remote parking command sent by a mobile terminal; The determining unit is configured to determine a height difference between a first plane on which the reference object is located and a second plane on which the intelligent driving device is located; The processing unit is configured to disable a remote parking function when the height difference is equal to or greater than a first preset threshold. Parking equipment.

11. The reference object includes a user of the intelligent driving device, and the processing unit: The determining unit controls the mobile terminal to notify the user to enter the preset range before determining the height difference between the first plane on which the reference object is located and the second plane on which the intelligent driving device is located.

11. The apparatus of claim 10, further configured to:

12. The preset range includes a preset area of ​​the vehicle head of the intelligent driving device, and the processing unit: Controlling the mobile terminal to notify the user to enter the predetermined area at the head of the vehicle 12. The apparatus of claim 11, further configured to:

13. The decision unit: determining that the height difference is equal to or greater than the first preset threshold when the user is not detected within the preset range within a preset period starting from the step of controlling the mobile device to notify the user to enter the preset range.

13. The apparatus of claim 11 or 12, further configured to:

14. The reference object includes a pedestrian around the intelligent driving device, and the determining unit: determining the height difference between the first plane and the second plane on which the pedestrian is located based on the pedestrian's body characteristics; 14. The device according to any one of claims 10 to 13, configured to:

15. The processing unit determining that the intelligent driving device is located in a mechanical parking space before the detection unit detects the reference object around the intelligent driving device; 15. The apparatus of claim 10, further configured to:

16. The processing unit Controlling the mobile terminal to notify a user of the intelligent driving device that the remote parking function has been disabled 16. The apparatus of claim 10, further configured to:

17. The processing unit and further configured to control the intelligent driving device to park based on the remote parking command when the height difference is less than a second preset threshold, the second preset threshold being less than or equal to the first preset threshold.

17. Apparatus according to any one of claims 10 to 16.

18. The processing unit Disabling the remote parking function when the height difference is equal to or greater than the first preset threshold and the first plane is lower than the second plane.

18. The device according to any one of claims 10 to 17, configured to:

19. a memory configured to store a computer program; a processor configured to execute the computer program stored in the memory to enable the parking device to carry out the method of any one of claims 1 to 9; A parking device comprising:

20. An intelligent driving device comprising an apparatus 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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