Parking methods and devices, and vehicles

Abstract

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

Description

Technical Field

[0001] Embodiments of the present application relate to the field of intelligent driving, and more specifically, to a parking method and apparatus, and a vehicle.

Background Art

[0002] Auto parking (AP) means that a vehicle is automatically parked in a parking space. Specifically, an automatic driving system can assist a user to park a vehicle in a parking space semi-automatically or fully automatically. Auto parking may include auto parking assist (APA), remote parking assist (RPA), auto valet parking (AVP), and the like.

[0003] Current auto parking technologies have high requirements for drivers. For example, when a driver is driving a vehicle, if the posture or position of the vehicle does not meet the requirements (for example, a significant lane violation), the vehicle cannot identify a parking space, and due to inaccurate determination of the vehicle, the vehicle cannot be parked in the parking space, etc. As a result, the driver directly misses an appropriate parking space or opportunity, and the parking efficiency is low.

Summary of the Invention

Means for Solving the Problems

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

[0005] Embodiments of the present application provide a parking method and apparatus, and a vehicle that help improve the efficiency and accuracy when a user executes parking.

[0006] In this application, "vehicle" (sometimes abbreviated as "car") refers to a vehicle in a broad sense, which may include means of transport (e.g., automobiles, trucks, motorcycles, trains, airplanes, or ships), industrial vehicles (e.g., forklift trucks, trailers, or tractors), engineering vehicles (e.g., hydraulic excavators, bulldozers, or cranes), agricultural devices (e.g., lawnmowers, harvesters), recreational devices, toy vehicles, etc. The types of vehicles are not limited in this application.

[0007] According to the first embodiment, a parking method is provided. This method includes the steps of: obtaining information about a plurality of parking areas; obtaining the relative positional relationship between a vehicle and each of the plurality of parking areas; and recommending a first parking area to the user based on the relative positional relationship and the user's first driving behavior, wherein the plurality of parking areas include the first parking area.

[0008] In this embodiment of the present application, after acquiring information on a plurality of parking areas, the vehicle may prompt the user for a recommended parking area based on the relative positional relationship between the vehicle and each parking area and the user's driving behavior, so that the user can quickly target a recommended parking area from the plurality of parking areas for parking. This helps to speed up the process by which the user selects an appropriate parking area from the plurality of parking areas, helps to prevent the user from manually selecting a parking area that is difficult to park in, improves the user's parking efficiency, and improves the user's overall parking experience and efficiency.

[0009] In some possible embodiments, the parking area includes an exit area (e.g., an area acquired after a vehicle has exited) or an entry area (e.g., a parking space).

[0010] In some possible embodiments, the first driving action includes first gear information and / or first steering information for the steering wheels. The first steering information for the steering wheels corresponds to a first steering direction of the wheels.

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

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

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

[0014] In this embodiment of the present application, after a first parking area is recommended to the user, during the process of the user driving the vehicle to the first parking area, the recommended parking area may be switched from the first parking area to the second parking area based on the user's driving behavior. In this way, the vehicle can prompt the user to a recommended parking area that has been updated in a timely manner. This improves the user's parking efficiency and enhances the user's parking experience.

[0015] In some possible embodiments, the second driving action includes second gear information and / or second steering information for the steering wheels. The second steering information for the steering wheels corresponds to a second steering direction of the wheels.

[0016] With respect to the first aspect, in some embodiments of the first aspect, the method further includes the step of determining a parking mode for a vehicle based on relative positional relationships and a third driving action of the user, the parking mode being either entering a parking area or exiting a parking area.

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

[0018] In some possible embodiments, the third driving action includes gear information, steering information of the steering wheels, information on whether the vehicle was powered on within a first preset duration before the vehicle's parking mode is determined, and one or more of the automatic parking modes in which the vehicle is before the vehicle's parking mode is determined.

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

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

[0021] In some possible embodiments, if the parking mode is entering a parking area, the relative position information may further include whether the vehicle is in the parking area. If the vehicle is in the parking area, that parking area may be determined as a recommended parking area.

[0022] With respect to the first aspect, in some embodiments of the first aspect, a first driving action includes first gear information of the vehicle and first steering information of the steering wheels of the vehicle, wherein the first steering information of the steering wheels corresponds to a first steering direction of the wheels, the parking mode is entering a parking area, and the step of recommending a first parking area to the user based on the relative positional relationship and the user's first driving action includes the step of recommending a first parking area to the user based on the first gear information and the angle between the first steering direction and the direction of the first side of each parking area, wherein the first side corresponds to the direction in which the vehicle enters the parking area.

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

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

[0025] In this embodiment of the present application, the recommended parking area is determined based on the distance between the vehicle and the parking area, and the angle between the direction of the wheels and the direction of the parking space lines. This helps to speed up the process by which the user selects a suitable parking area from multiple parking areas, helps to prevent the user from manually selecting a parking area that is difficult to park in, improves the user's parking efficiency, and improves the user's overall parking experience.

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

[0027] In this embodiment of the present application, the recommended parking area can be determined by referring to information regarding the distance between the vehicle and each parking area, the direction of the wheels, and the angle between the connection line between the center point of the vehicle's wheel and the center point of the outermost parking space line of the opening of the parking area. This helps to speed up the process for the user to select a suitable parking area from multiple parking areas, helps to prevent the user from manually selecting a parking area that is difficult to park in, helps to improve the user's parking efficiency, and helps to improve the overall user parking experience.

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

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

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

[0031] In this embodiment of the present application, if the vehicle detects that the user is experiencing difficulties in parking during the manual parking process, the vehicle can prompt the user to use the automatic parking function within a time limit, thereby allowing the user to conveniently switch from manual to automatic parking within a time limit. This helps to improve parking efficiency and also helps to ensure the safety of the user's parking.

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

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

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

[0035] According to a second embodiment, a parking device is provided. The device includes an acquisition unit configured to acquire information about a plurality of parking areas, further configured to acquire the relative positional relationship between a vehicle and each of the plurality of parking areas, and a recommendation unit configured to recommend a first parking area to a user based on the relative positional relationship and the user's first driving behavior, wherein the plurality of parking areas include the first parking area.

[0036] With respect to the second aspect, in some embodiments of the second aspect, the recommendation unit is further configured to recommend a second parking area to the user based on relative positional relationships and the user's second driving behavior, and the plurality of parking areas include the second parking area.

[0037] With respect to a second aspect, in some embodiments of the second aspect, the apparatus further includes a first determination unit configured to determine a parking mode for a vehicle based on relative positional relationships and a third driving action of the user, before an acquisition unit acquires information about a plurality of parking areas, wherein the parking mode includes entering a parking area or exiting a parking area.

[0038] With respect to the second aspect, in some embodiments of the second aspect, the first driving action includes first gear information of the vehicle and first steering information of the vehicle's steering wheels, the first steering information of the steering wheels corresponds to a first steering direction of the wheels, the parking mode is entering a parking area, and the recommendation unit is specifically configured to recommend a first parking area to the user based on the first gear information and the angle between the first steering direction and the direction of the first side of each parking area, the first side corresponding to the direction in which the vehicle enters the parking area.

[0039] With respect to the second aspect, in some embodiments of the second aspect, the relative positional relationship further includes information regarding the distance between the vehicle and each parking area, and the direction of the second side of the vehicle and the angle between the connecting line between the wheel center point on the second side and the center point of the parking space line on the first side, where the first side and the second side correspond to the direction in which the vehicle enters the parking area.

[0040] With respect to a second aspect, in some embodiments of the second aspect, the first determination unit is further configured to determine that the vehicle's speed is below a preset speed threshold before determining the vehicle's parking mode.

[0041] With respect to a second aspect, in some embodiments of the second aspect, the device further includes a second determination unit configured to determine information regarding a parking trajectory from the vehicle's current position to a first parking area, and information regarding the first parking area, based on the vehicle's pose, and a first facilitation unit configured to prompt the user for information regarding the parking trajectory.

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

[0043] With respect to a second aspect, in some embodiments of the second aspect, the device further includes a second prompting unit configured to prompt the user that the vehicle is not parked in the center of the first parking area, or to prompt the user to use the automatic parking function, if the vehicle is parked in the first parking area and the vehicle is not parked in the center of the first parking area.

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

[0045] According to the fourth aspect, a vehicle is provided, which includes a device according to either the second or third aspect.

[0046] According to the fifth aspect, a computer program product is provided. The computer program product includes computer program code, and when the computer program code is executed on a computer, the computer is made capable of performing the method of the first aspect.

[0047] All or part of the computer program code may be stored in a first storage medium. The first storage medium may be encapsulated together with the processor or separately from the processor. In the embodiments of this application, this is not limited to any particular configuration.

[0048] According to the sixth aspect, a computer-readable medium is provided. The computer-readable medium stores program code, and when the computer program code is executed on a computer, the computer is made capable of performing the method of the first aspect.

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

[0050] In a seventh aspect, in one possible embodiment, the processor is coupled to memory via an interface.

[0051] In a seventh aspect, in one possible embodiment, the chip system further includes memory, which stores computer programs or computer instructions. [Brief explanation of the drawing]

[0052] [Figure 1] This is a schematic functional block diagram of a vehicle according to one embodiment of the present application. [Figure 2] This is a schematic diagram of the sensing range of various sensors according to one embodiment of this application. [Figure 3] This is a schematic flowchart of a parking method according to one embodiment of this application. [Figure 4(a)] This figure shows a group of graphical user interfaces (GUIs) according to one embodiment of the present application. [Figure 4(b)] This figure shows a group of graphical user interfaces (GUIs) according to one embodiment of the present application. [Figure 4(c)] This figure shows a group of graphical user interfaces (GUIs) according to one embodiment of the present application. [Figure 4(d)] This figure shows a group of graphical user interfaces (GUIs) according to one embodiment of the present application. [Figure 5] This figure shows another GUI according to one embodiment of the present application. [Figure 6] This figure shows another GUI according to one embodiment of the present application. [Figure 7] This figure shows another group of GUIs according to one embodiment of this application. [Figure 8] This figure shows another group of GUIs according to one embodiment of this application. [Figure 9] This figure shows another group of GUIs according to one embodiment of this application. [Figure 10] This figure shows another GUI according to one embodiment of the present application. [Figure 11] This is a schematic flowchart of a parking method according to one embodiment of this application. [Figure 12(a)] This figure shows another group of GUIs according to one embodiment of this application. [Figure 12(b)] This figure shows another group of GUIs according to one embodiment of this application. [Figure 13] This figure shows another GUI according to one embodiment of the present application. [Figure 14] This is a schematic flowchart of a method for enabling a narrow lane assistance function according to one embodiment of this application. [Figure 15] This figure shows another GUI according to one embodiment of the present application. [Figure 16(a)] This is a schematic diagram of a parking area according to one embodiment of the present application. [Figure 16(b)] This is a schematic diagram of a parking area according to one embodiment of the present application. [Figure 16(c)] This is a schematic diagram of a parking area according to one embodiment of the present application. [Figure 17]This figure shows another GUI according to one embodiment of the present application. [Figure 18] This figure shows another GUI according to one embodiment of the present application. [Figure 19(a)] This figure shows another group of GUIs according to one embodiment of this application. [Figure 19(b)] This figure shows another group of GUIs according to one embodiment of this application. [Figure 20(a)] This figure shows another group of GUIs according to one embodiment of this application. [Figure 20(b)] This figure shows another group of GUIs according to one embodiment of this application. [Figure 20(c)] This figure shows another group of GUIs according to one embodiment of this application. [Figure 20(d)] This figure shows another group of GUIs according to one embodiment of this application. [Figure 21(a)] This figure shows another GUI according to one embodiment of the present application. [Figure 21(b)] This figure shows another GUI according to one embodiment of the present application. [Figure 22(a)] This figure shows another group of GUIs according to one embodiment of this application. [Figure 22(b)] This figure shows another group of GUIs according to one embodiment of this application. [Figure 22(c)] This figure shows another group of GUIs according to one embodiment of this application. [Figure 22(d)] This figure shows another group of GUIs according to one embodiment of this application. [Figure 23] This is a schematic flowchart of a parking method according to one embodiment of this application. [Figure 24] This is a schematic block diagram of a parking device according to one embodiment of the present application. [Modes for carrying out the invention]

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

[0054] In the embodiments of this application, prefixes such as “first” and “second” are used solely to distinguish different described objects and do not limit the location, order, priority, quantity, content, etc., of the described objects. For example, if the described object is “parking area,” the ordinal number preceding “parking area” in “first parking area” and “second parking area” does not limit the location or order of the “parking area.” In conclusion, in the embodiments of this application, the use of prefixes such as ordinal numbers used to distinguish described objects does not constitute a limitation on the described objects. For descriptions of the described objects, please refer to the claims or the contextual descriptions in the embodiments, and the use of such prefixes should not constitute an unnecessary limitation. In addition, in the description of these embodiments, unless otherwise specified, “multiple” means two or three or more.

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

[0056] Some or all of the functions of vehicle 100 may be controlled by a computing platform 150. The computing platform 150 may include processors 151 to 15n (where n is a positive integer). A processor is a circuit having signal processing capabilities. In one embodiment, the processor may be a circuit having the ability to read and execute instructions, and may be, for example, 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, the processor may implement specific functions by using logical relationships of hardware circuits. The logical relationships of hardware circuits may be fixed or reconfigurable. For example, the processor may be an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA, which is a hardware circuit implemented by such a device. In a reconfigurable hardware circuit, the process by which a processor loads configuration documents to implement a hardware circuit configuration can be understood as the process by which a processor loads instructions to implement some or all of the functions of the aforementioned unit. In addition, the processor may also 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 memory, which is configured to store instructions.Some or all of the processors 151 through 15n can call instructions in memory to implement the corresponding functions.

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

[0058] Figure 2 is a schematic diagram of the sensing ranges of various sensors. Sensors may include, for example, lidar, millimeter-wave radar, camera equipment, and ultrasonic sensors shown in Figure 1. Millimeter-wave radar can be classified into long-range radar and medium / short-range radar. Currently, the sensing range of lidar is approximately 80-150m, the sensing range of long-range millimeter-wave radar is approximately 1-250m, the sensing range of medium / short-range millimeter-wave radar is approximately 30-120m, the sensing range of camera lenses is approximately 50-200m, and the sensing range of ultrasonic radar is approximately 0-5m.

[0059] In terms of logical function, ADAS systems typically include three main functional modules: a sensing module, a decision-making module, and an execution module. The sensing module senses the surrounding environment of the vehicle using sensors and inputs the corresponding real-time data into the decision center. The sensing module mainly includes on-board camera lenses, ultrasonic radar, millimeter-wave radar, and lidar. The decision-making module uses computing devices and algorithms to make corresponding decisions based on the information acquired by the sensing module. After receiving a decision signal from the decision module, the execution module performs the corresponding action, such as driving, changing lanes, steering, braking, or issuing warnings.

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

[0061] As mentioned above, current automated parking technology places high demands on the driver. For example, if the vehicle's posture or position does not meet the requirements while the driver is operating the vehicle (e.g., a significant lane violation), the vehicle may not be able to identify a parking space, or the vehicle may not be able to park due to an inaccurate decision by the vehicle. As a result, the driver directly misses a suitable parking space or opportunity, resulting in low automated parking efficiency.

[0062] With this in mind, embodiments of the present application provide a parking method and apparatus, as well as a means of transport. The vehicle can recommend a parking mode, parking area, and parking functions to the user based on the vehicle's position and the driver's driving behavior, in order to help improve the user's parking efficiency.

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

[0064] S310: Retrieve vehicle pose information.

[0065] Vehicle pose information may include vehicle location information and vehicle attitude information. Vehicle location information may be acquired by a positioning system in the sensing system 120 shown in Figure 1, and attitude information may be determined by using data collected by sensors such as a camera device, lidar, millimeter-wave radar, ultrasonic radar, and IMU in the sensing system 120.

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

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

[0068] For example, ambient environment information includes, but is not limited to, information about obstacles around the vehicle, such as the distance and angle between the vehicle and pillars, road edges, road shoulders, or traffic cones (registered trademark) around the vehicle.

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

[0070] S320: Determine the parking mode based on the vehicle's position and / or the driver's driving behavior, the parking mode may indicate that the vehicle is currently entered into or exiting a parking space.

[0071] For example, the parking mode may be determined to be entering a parking space based on one or more of the following conditions:

[0072] (1) The vehicle can identify the parking space, but the vehicle is not in the parking space or is not fully parked in the parking space.

[0073] (2) The vehicle switches from a state where it is not in a parking space to a state where it enters one or more parking spaces (for example, in the process of manually parking the vehicle into a parking space, the user does not enter the vehicle into the parking space by changing gears multiple times).

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

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

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

[0077] In one embodiment, if one or more of the above-mentioned conditions are met and the vehicle speed is below a preset speed threshold, the parking mode may be determined to be entering the parking area.

[0078] For example, the parking mode may be determined to be exiting the parking space based on one or more of the following conditions:

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

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

[0081] (3) Before the parking mode is determined, the vehicle detects that it has entered automatic exit mode, and the vehicle actively or passively exits automatic exit mode when the vehicle has not exited the parking space.

[0082] (4) The vehicle detects that it is in a parking space and that it has not completely left the parking space after the user has driven the vehicle once or multiple times.

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

[0084] In one embodiment, when entering a parking space, the recommended parking area may be the recommended entry parking space (e.g., a ground-level parking space or a multi-story parking space), and when exiting a parking space, the recommended parking area may be the exit direction and a virtual area where the corresponding vehicle stops.

[0085] In one embodiment, for example, the driving area is on the left side of the vehicle. The recommended parking area may be the parking space that is closest to the driver's line of sight and to the right in the direction of vehicle forward movement. If there is a recommended parking area on the right side in the direction of vehicle forward movement, the right-hand parking area is preferred. If there is no recommended parking area on the right side in the direction of vehicle forward movement, an available parking space on the left side is recommended.

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

[0087] As shown in Figure 4(a), when the vehicle has driven close to the parking space, an inverse perspective mapping (IPM) image 401 and a rearview image 402 may be displayed using the display. The IPM image includes information about the current vehicle and information about the parking space around the vehicle. If the vehicle detects that its current speed is below a preset speed threshold (e.g., 5 km / h), the vehicle may display the GUI shown in Figure 4(b) using the display.

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

[0089] As shown in Figure 4(c), when displaying a recommended parking area using the display, the vehicle may further display prompt information to prompt the user to enter automatic parking mode, such as “A parking area has been recommended, do you want to perform automatic parking?”, “Automatic Parking” control 403, “Remote Parking” control 404, “Parking Area Switching” control 405, and “Cancel” control 406.

[0090] In one embodiment, for example, the driving area is on the left side of the vehicle. When the driver manually parks in a parking space, the vehicle's pose, rear-wheel steering, and surrounding information on available parking spaces (including the number of available parking spaces, the type of parking space, and surrounding obstacles) are acquired. If all surrounding vehicles park from the rear, the probability that the current vehicle will park from the rear is (number of vehicles parked from the rear / total number of parking spaces) * 100%.

[0091] In one embodiment, the vehicle may prompt the user to the parking space with the highest recommendation rating based on the recommendation ratings of multiple available parking spaces.

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

[0093] For example, the recommendation score C(x) for available parking spaces is calculated as follows:

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

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

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

[0097] [Table 1]

[0098] It should be understood that the aforementioned correspondence between D1 and the recommendation score is merely an example. Alternatively, the correspondence between D1 and the recommendation score may be expressed using a different value or function relationship, and this is not limited to the embodiments of this application.

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

[0100] [Table 2]

[0101] It should be understood that the aforementioned correspondence between θ1 and the recommendation score is merely an example. Alternatively, the correspondence between θ1 and the recommendation score may be expressed using a different value or function relationship. This is not limited to the embodiments of this application.

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

[0103] (2) Based on the steering information of the steering wheels, the steering direction of the vehicle's inner or outer steering wheel is obtained.

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

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

[0106] [Table 3]

[0107] It should be understood that the aforementioned correspondence between θ2 and the recommendation score is merely an example. Alternatively, the correspondence between θ2 and the recommendation score may be expressed using a different value or function relationship. This is not limited to the embodiments of this application.

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

[0109] For example, the recommendation score for a parking space can be calculated by constructing weights for relative distance D1, vehicle pose angle θ1, and wheel steering angle θ2. For example, if the weights for relative distance D1, vehicle pose angle θ1, and wheel steering angle θ2 are 50%, 20%, and 30%, respectively, the recommendation score for each exit area is 50%*C(D1)+20%*C(θ1)+30%*C(θ2). After the recommendation score for each parking area is calculated, the user may be prompted to park in the area with the highest recommendation score.

[0110] The parameter weights mentioned above are merely examples and should be understood as not being limited to the embodiments of this application.

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

[0112] The above determines the recommendation level of a parking area based on the correspondence between each parameter and the recommendation level and weight of each parameter. In this embodiment of the present application, the manner in which the recommendation level C(x) is calculated may be further determined by collecting training samples (e.g., the recommendation level of each parking area determined by the user in the manual parking process, and parameter information corresponding to each parking area).

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

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

[0115] [Table 4]

[0116] For the calculation processes of (D2,θ3,θ4), (D3,θ5,θ6), and (D4,θ7,θ8), please refer to the previously described calculation processes for D1, θ1, and θ2. Further details are not provided herein.

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

[0118]

number

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

number

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

[0121] Accordingly, when a vehicle enters the parking space from the front, the coordinate origin may be determined as the midpoint of the vehicle's front wheels, and the parking space with the highest recommendation level under D gear is calculated. Accordingly, the recommendation levels for parallel and diagonal parking spaces may be determined in the manner described above in order to recommend the target parking area.

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

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

[0124] Figure 6 shows another GUI according to one embodiment of the present application. As shown in Figure 6, when a portion of the vehicle enters the recommended parking area, the vehicle may aim at the recommended parking area (the recommended parking area is indicated by a thick solid line).

[0125] Figure 7 shows another group of GUIs according to one embodiment of the present application.

[0126] As shown in Figure 7(a), when a vehicle enters a parallel parking space by entering from the rear, the vehicle may use its display to show the recommended parking area (the dashed box 701 shown in Figure 7(a)) based on the steering direction of the vehicle and the relative positional relationship between the vehicle and the parking space. When part of the vehicle enters the recommended parking area (for example, when the distance between any position on the vehicle and the recommended parking area is 30 cm or less), or when the vehicle enters the recommended parking area, the vehicle may use its display to aim at the recommended parking area (the solid box 702 shown in Figure 7(b)).

[0127] Figure 8 shows another group of GUIs according to one embodiment of the present application.

[0128] As shown in Figure 8(a), when a vehicle enters a parallel parking space by entering from the front, the vehicle may use its display to show the recommended parking area (the dashed box 801 shown in Figure 8(a)) based on the steering direction of the vehicle and the positional relationship between the vehicle and the parking space. When part of the vehicle enters the recommended parking area (for example, when the distance between any position on the vehicle and the recommended parking area is 30 cm or less), or when the vehicle enters the recommended parking area, the vehicle may use its display to aim at the recommended parking area (the solid box 802 shown in Figure 8(b)).

[0129] In one embodiment, if a vehicle detects that it is entering a parking space, or that the frequency of the vehicle entering a parking space within a predetermined time period is greater than or equal to a predetermined frequency, the vehicle may determine the parking space to be a recommended parking area.

[0130] In one embodiment, if a user has selected a target parking area during a previous automated parking operation, and the vehicle is either not entering or exiting the parking area during the entry process, the vehicle may, by default, determine the previously selected target parking area as the recommended parking area.

[0131] In one embodiment, when a vehicle detects that the driver has parked the vehicle outside of a longitudinal parking space or diagonal parking space, if the vehicle is exiting from the front, the parking direction may be determined based on the steering wheel steering and body steering when the driver shifts to D gear. If the vehicle is parked from the rear, the parking direction may be determined based on the steering wheel steering and body steering when the driver shifts to R gear. When a vehicle detects that the vehicle being driven by the driver has exited a parallel parking space, the vehicle may determine that the forward direction of the vehicle is the exit direction.

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

[0133] S340: Determine parking-related parameters.

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

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

[0136] In one embodiment, if in S320 the parking mode is determined to be that the vehicle is currently parked in a parking space, the vehicle may be determined to be difficult for the current driver to park if one or more of the following parking conditions are met, in which case automatic parking control will be displayed on the display and the user will be prompted and guided to perform automatic parking.

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

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

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

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

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

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

[0143] Figure 10 shows another GUI according to one embodiment of the present application. As shown in Figure 10, when the vehicle detects that it is difficult for the driver to park, the vehicle can display a prompt box 1001. The prompt box 1001 includes prompt information "Parking difficulty detected, automatic parking is recommended", an "automatic parking" control 1002, a "remote parking" control 1003, and a "cancel" control 1004. When the vehicle detects that the user has tapped the "automatic parking" control 1002, the vehicle can plan a parking path based on the vehicle's current position and the relative position between the vehicle's current position and the recommended parking area, and park the vehicle in the recommended parking area based on the planned parking path. When the vehicle detects that the user has tapped the "remote parking" control 1003, the vehicle can park in the recommended parking area based on a parking command from the vehicle key or another terminal (e.g., a mobile phone).

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

[0145] S370: If it is not difficult for the driver to park the vehicle, the vehicle will be parked based on the driver's actions.

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

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

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

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

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

[0151] S1110: Retrieves the vehicle's pose information.

[0152] S1120: Determine the parking mode based on the vehicle's position and / or the driver's driving behavior, the parking mode may indicate that the vehicle is currently parked in or out of a parking space.

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

[0154] For sections S1110 through S1130, please understand that you should refer to the explanations given above for sections S310 through S330. For brevity, further details will not be explained here.

[0155] S1140: Displays an intelligent parking path based on the parking mode and recommended parking area.

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

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

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

[0159] For example, the trigger conditions for a vehicle to automatically display an intelligent parking path may include one or more of the following conditions:

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

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

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

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

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

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

[0166] In the IPM image, the solid black line indicates the vehicle's dynamic predicted trajectory, and the shaded area indicates the vehicle coverage area when the vehicle travels based on the intelligent parking trajectory.

[0167] Figure 13 shows another GUI according to one embodiment of the present application.

[0168] As shown in Figure 13, the vehicle can detect, based on the driver's driving behavior, whether the vehicle can enter or exit a parking space, and can automatically display an intelligent parking path if it detects a collision risk or if the vehicle's position is not straight after entering the parking space. For example, when the vehicle detects a collision risk, prompt information 1301 "Collision risk detected, intelligent parking path will be displayed" may be automatically displayed on the display, the vehicle's dynamic predicted trajectory, and the intelligent parking path. In this way, the driver can complete parking based on the intelligent parking path.

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

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

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

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

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

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

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

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

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

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

[0179] For example, a vehicle can collect information about its surroundings and road data, determine the distance between its wheels and the road edges or obstacles on either side, and thereby determine the current width of the road based on that distance.

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

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

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

[0183] For example, if the road width is b and the wheel distance of the vehicle is a, then when b > 4m, the vehicle can determine that the current road is a wide lane and can drive normally.

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

[0185] For example, when 1.4a ≤ b ≤ 4m, the vehicle may determine that the current road is a narrow, parallel lane, thereby allowing the planning and reminding of the driving route to be performed based on the pause. The narrow lane assist function is activated when the vehicle is moving and the vehicle speed is 15 km / h or less. The vehicle may detect road conditions in the range of L1 to L2 (e.g., 100 to 200 m) in the direction of vehicle driving.

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

[0187] In one embodiment, if the current road is not a narrow road, the vehicle does not need to prompt the user, and the vehicle can travel normally on the road based on the user's driving behavior.

[0188] S1430: Prompts the user to use the vehicle's dynamic predicted trajectory and narrow lane assist trajectory.

[0189] Figure 15 shows another GUI according to one embodiment of the present application. As shown in Figure 15, when the vehicle determines that it is currently traveling on a narrow road, the vehicle can use the display to show prompt information 1501 "Narrow road crossing detected, narrow lane assist track provided", the vehicle's dynamic predicted trajectory, and the narrow lane assist track. For example, in Figure 15, the solid black line shows the vehicle's dynamic predicted trajectory, the dashed black line shows the narrow lane assist track, and the shaded area shows the area of ​​the vehicle body covering when the vehicle is traveling based on the narrow lane assist track. The driver can rotate the steering wheel and control the brakes and throttle to align the vehicle's dynamic predicted trajectory with the narrow lane assist track, thereby allowing the vehicle to travel on the narrow road.

[0190] In one embodiment, the vehicle can estimate the rendezvous position based on the speed of moving obstacles on the road (e.g., oncoming vehicles or people). The driving trajectory is planned based on the preset rendezvous position, and by using the planned driving trajectory, the vehicle prompts the driver to take an appropriate driving path, or prompts the driver to slow down and stop, and displays appropriate parking avoidance points.

[0191] In one embodiment, when the vehicle detects that the user has shifted to reverse gear, the vehicle can also identify a parallel narrow lane or a perpendicular narrow lane. Once a parallel narrow lane and a perpendicular narrow lane are identified, a driving path can be planned for the user.

[0192] In one embodiment, when a vehicle detects that it is about to travel in a narrow, perpendicular lane, the vehicle can use indicator lights to help the driver determine their steering intention. For example, if the vehicle detects that the driver has turned on the left indicator light, the vehicle plans the corresponding path to the left and displays a narrow lane assist track based on information about the lane, pause, and perpendicular lane in which the vehicle is located.

[0193] In one embodiment, the vehicle can detect that it is about to travel in a parallel narrow lane and that the driver has turned on the left indicator light, and then plan a narrow lane U-turn path for the driver; the vehicle can detect that it is about to travel in a parallel narrow lane and that the driver has turned on the right indicator light, and then identify the distance between the wheels and the edge of the road and plan a path for moving to the side.

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

[0195] The above describes, with reference to embodiments, the technical solutions for parking provided in embodiments of this application, and the technical solutions for enabling a narrow lane assist function when a vehicle is traveling on a narrow road. The following describes, with reference to the accompanying drawings, the technical solutions for detecting anomalies in the parking posture and automatic adjustment of the parking posture provided in embodiments of this application.

[0196] Once a vehicle enters a parking space, the vehicle can automatically monitor its parking posture within the space. Based on data collected by sensors such as radar and camera lenses, the vehicle can identify and determine if a significant lane violation has occurred in relation to a tilted vehicle or a vehicle near an obstacle / obstacle, or if the vehicle doors cannot be opened.

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

[0198] For example, Figures 16(a) to 16(c) are schematic diagrams of parking areas. As shown in Figure 16(a), the length of the parking space is 5.3m and the width is 2.5m. The solid black line is the parking space line, and the area 0.3m inward from two sides of the parking space line is the area where a vehicle is parked within the parking space, and where monitoring can detect if the vehicle is not in the center. The shaded area is the central parking area. The coordinates of the vehicle's center point are ( x 2, y 2) The coordinates of the center point of the parking area are ( x 1, y 1) The angle between the vehicle's center axis and the parking area's center axis is θ. If the distance between the projected center point of the vehicle and the center point of the parking area is less than or equal to a first preset difference (for example, the first preset difference is 0.3m) and the angle θ is less than or equal to a preset angle (for example, 3°), then the vehicle is determined to be parked in the center.

[0199] In one embodiment, if the distance between the center point of the vehicle projected onto the ground and the center point of the parking area is greater than a preset difference, the vehicle may determine that its current parking position is abnormal. As shown in Figure 16(a), if the projection distance of the connecting line in the y-axis direction is greater than a second preset difference (for example, the second preset difference is 0.2), the vehicle may determine that its current parking position is abnormal and that there is a clear front-to-back deviation.

[0200] As shown in Figure 16(b), the projected distance in the x-axis direction is equal to a third preset difference (for example, the third preset difference is 0). 2m If it is greater than ( ), the vehicle may be determined to have an abnormal parking posture and a clear lateral deviation.

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

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

[0203] In one embodiment, if the vehicle determines that the parking position is abnormal, the abnormal status of the vehicle may be displayed using a display so that the driver becomes aware of the abnormal scenario. In addition, if the driver is still inside the vehicle, the display may be used to prompt the driver to perform an automatic pause adjustment.

[0204] Figure 17 shows another GUI according to one embodiment of the present application. As shown in Figure 17, if the vehicle detects that the current parking pose is abnormal, the vehicle may, by using its display, display prompt information 1701 "The vehicle is abnormally parked in the parking space. Tap Start to perform a one-click adjustment," a "Start" control 1702, and a "Cancel" control 1703. When the vehicle detects that the user has tapped the "Start" control 1702, the vehicle can select the current parking area as the target parking area and automatically plan a parking path to park in the center. After the driver releases the brake, the vehicle can adjust the vehicle's parking pose by controlling the brakes, throttle, and steering wheels based on the parking path to park in the center of the parking area.

[0205] In one embodiment, the vehicle can determine, based on the type of current parking space and the distance between the vehicle and any obstacles, whether the driver or passengers can conveniently exit the vehicle after it has entered the parking space (for example, if the distance between the vehicle door and any obstacles is greater than 30 cm, it may be considered that the driver or passengers can conveniently exit). If the driver or passengers can conveniently exit the vehicle, the vehicle automatically adjusts to the center position of the parking space, and then the automatic parking is completed. If the driver or passengers cannot conveniently exit, the vehicle detects that the current parking position is abnormal, and if the vehicle detects that the user has chosen to automatically adjust the parking position, the vehicle may prompt the user that the vehicle should exit the parking space to a position where the vehicle doors can be opened, and prompt the user to exit at that position. Once the vehicle detects that the user inside the vehicle has exited and closed the vehicle doors, the vehicle automatically enters the parking space.

[0206] Figure 18 shows another GUI according to one embodiment of the present application. As shown in Figure 18, if the vehicle detects that the current parking position is abnormal and determines that the driver or passenger cannot easily exit the vehicle, the vehicle may, by using its display, display prompt information 1801 "Vehicle doors are restricted from being opened. Drive the vehicle out of the parking space and close the vehicle doors after you have exited the vehicle. After the vehicle doors are closed for 5 seconds, the vehicle will re-enter the parking space", an "OK" control 1802, and a "Cancel" control 1803. When the vehicle detects that the user has tapped the "OK" control 1802, the vehicle may drive away from the parking area after receiving the user's driving command. After the vehicle detects that the user has exited the vehicle and closed the vehicle doors, the vehicle may perform automatic parking and park in the center of the parking area.

[0207] Figures 19(a) and 19(b) show another group of GUIs according to one embodiment of the present application. As shown in Figure 19(a), if the vehicle detects that the current parking position is abnormal and determines that the driver or passenger cannot easily exit the vehicle, the vehicle may, by using its display, display prompt information 1901 "Vehicle doors are restricted from being opened. After OK is tapped, the vehicle will automatically leave the parking space. After the vehicle has stopped, please exit and close the vehicle doors. After the vehicle doors have been closed for 5 seconds, the vehicle will re-enter the parking space", OK control 1902, and Cancel control 1903. As shown in Figure 19(b), if the vehicle detects that the user has tapped OK control 1902, the vehicle will drive away from the parking space and park in a position where the vehicle doors can be easily opened. The vehicle may, by using its display, further display prompt information 1904 "Exit the vehicle and close the vehicle doors. After the vehicle doors have been closed for 5 seconds, re-enter the parking space." After the vehicle detects that the user has exited the vehicle and closed the vehicle door, the vehicle can perform automatic parking and park itself in the center of the parking space.

[0208] In one embodiment, if the vehicle has driven out of a parking space and parked in a position where the vehicle doors can be easily opened, and it is detected that the driver or passenger has not exited the vehicle within a predetermined time (e.g., 20 seconds), the vehicle may continue to perform automatic parking. In one embodiment, if the distance between the driver's side vehicle door and an obstacle is less than or equal to a predetermined distance (e.g., 30 cm), the vehicle may be parked to the right by default.

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

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

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

[0212] As shown in Figure 20(a), after receiving prompt information transmitted by the vehicle, the mobile phone can display a prompt window 2001 containing the prompt information "The vehicle is parked abnormally in the parking space. One-click intelligent adjustment is recommended to avoid the risk of scratches and violations." When the mobile phone detects that the user has tapped the prompt window 2001, the mobile phone can display the GUI shown in Figure 20(b).

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

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

[0215] In one embodiment, if the mobile phone detects that the user has tapped the "pause" control 2003, the mobile phone can send instruction information to the vehicle, which indicates that the vehicle should stop automatic parking. In response to receiving the instruction information, the vehicle can control itself to stop moving.

[0216] As shown in Figure 20(d), after the vehicle has completed adjusting its parking pose, the vehicle may indicate to the mobile phone that automatic parking is complete. The mobile phone may display an alternative display interface for the vehicle's automatic parking. The display interface includes prompt information: "The vehicle has re-entered the parking space and the vehicle is now centered."

[0217] In this embodiment of the present application, the vehicle comprehensively considers abnormal parking poses and whether the user inside the vehicle can easily exit the vehicle, and provides the driver with automatic adjustment functions including center adjustment, reserved exit position, automatic parking after leaving the vehicle, and remote control adjustment, as well as clear status prompts. This helps the driver adjust the parking pose more easily, saving time and energy and avoiding cases of scratching another vehicle, violating the law, being unable to exit the vehicle, or blocking another vehicle.

[0218] Referring to Figures 16(a) to 20(d), the above describes the process of adjusting the parking pose of a vehicle according to embodiments of the present application. Referring to the attached drawings, the following describes the process of switching between automatic parking and remote parking in the parking process provided in embodiments of the present application.

[0219] Once the vehicle enters a parking space, the parking mode can be proactively switched from automatic parking to remote parking. For example, after the vehicle detects that the driver has initiated automatic parking, it detects an action that interrupts the automatic parking process and prompts the user to complete the parking via remote parking using the display. Once the vehicle detects that the user has decided to switch to remote parking, and that the user has left the vehicle and the vehicle doors have been closed, the vehicle receives control from the mobile device and can continue to complete the current parking using remote parking, allowing the vehicle to enter the selected target parking space.

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

[0221] In one embodiment, in the process of detecting that a user has manually parked the vehicle in a target parking space, if it is determined that it would be inconvenient to open the vehicle doors while the vehicle is parked in the target parking space, the vehicle may prompt the user to switch to remote parking using a display.

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

[0223] As shown in Figure 21(a), during the process of a user parking a vehicle in a recommended parking space, the vehicle detects that it is inconvenient to open the vehicle doors in the target parking space. In this case, the vehicle can use its display to show information about the recommended parking space, prompt information "After parking, opening the vehicle doors will be restricted and remote parking is recommended," "remote parking" control 2101, and "cancel" control 2102. control When the system detects a tap on 2101, the vehicle can receive a parking command from a mobile device (e.g., a cell phone or vehicle key).

[0224] As shown in Figure 21(b), the mobile phone can display a remote parking display interface. The display interface includes prompt information "Tap Start to continue parking" and a "Start" control 2103. When the mobile phone detects that the user has tapped the "Start" control 2103, the mobile phone can send a parking command to the vehicle, which in turn allows the vehicle to park in the target parking area based on the parking command.

[0225] In this embodiment of the present application, the switching steps and operational costs between automated and remote parking are simplified, thereby making the parking experience more seamless and smoother, and avoiding the dilemma of being unable to exit the vehicle and re-park. In addition, the parking mode is recommended in a more intelligent manner in a timely manner, and clear operational commands are provided on the interface. This helps to reduce the learning cost.

[0226] In one embodiment, after the vehicle has been parked in a parking space, the mobile device can further perform intelligent parking reminders based on the distance between the mobile device and the vehicle.

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

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

[0229] As shown in Figure 22(a), when the mobile phone detects that the distance between the mobile phone and the vehicle is 50m or less, the mobile phone can display a prompt box 2201 containing the prompt information "The parking space is a narrow parking space and can be automatically exited with one click." When the mobile phone detects that the user has tapped the prompt box 2201, the mobile phone can display a display interface for remote parking.

[0230] As shown in Figure 22(b), in response to a detected operation in which the user taps control 2202, the mobile phone can prompt the user with "Please select exit direction", "Exit left" control 2202, and "Exit right" control 2203.

[0231] As shown in Figure 22(c), when the mobile phone detects that the user has tapped the control 2203 to exit to the right, the mobile phone can send a parking command to the vehicle, which commands the vehicle to exit to the right. In response to receiving the parking command, the vehicle can automatically begin to exit to the right. In addition, the vehicle can further transmit information such as the vehicle's parking trajectory, vehicle pause information, and surrounding environment to the mobile phone in real time. In response to receiving the information transmitted by the vehicle, the mobile phone can display the vehicle's parking trajectory, surrounding environment information, etc., via its display interface.

[0232] As shown in Figure 22(d), after the vehicle has completed its departure from the depot, the vehicle can transmit an instruction to the mobile phone indicating that the vehicle has been departed. In response to receiving the instruction, the mobile phone can prompt the user that the vehicle has been departed.

[0233] In one embodiment, the vehicle may further set a parking time period [t1, t2] based on the user's daily vehicle usage period (e.g., the time period during which the vehicle is taken out of the parking space). During this time period, if the distance between the mobile device and the vehicle is less than or equal to a preset distance, the mobile device may prompt the user to use the exit function. In one embodiment, the vehicle may also automatically exit the parking space when it detects within the time period that the distance between the mobile device and the vehicle is less than or equal to a preset distance.

[0234] In this embodiment of the present application, the mobile terminal can remind the user to use the automatic parking function based on the distance between the mobile terminal and the vehicle. This can improve the use of remote parking. In addition, the time the user spends walking to the vehicle is used to start the vehicle and move it out of the parking space, so that the user can get into the vehicle directly when they arrive at the parking space. This saves time and reduces the user's waiting time.

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

[0236] S2301: Retrieves information about multiple parking spaces.

[0237] The method further includes, optionally, a step prior to the step of acquiring information on multiple parking areas, a step of determining the parking mode of the vehicle based on relative positional relationships and the user's third driving behavior, the parking mode being either entering a parking area or exiting a parking area.

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

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

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

[0241] Optionally, prior to the step of determining the vehicle's parking mode, the method further includes the step of determining that the vehicle's speed is below a preset speed threshold.

[0242] S2302: Obtain the relative positional relationship between the vehicle and each of the multiple parking areas.

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

[0244] For information regarding the distance D1 and the included angle θ1, please refer to the description of the embodiments above. Further details are not provided herein.

[0245] S2303: Based on the relative positional relationship and the user's first driving behavior, a first parking area is recommended to the user, and multiple parking areas include the first parking area.

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

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

[0248] For an explanation of the included angle θ2, please refer to the description of the embodiments above. Further details will not be provided in this specification.

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

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

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

[0252] One embodiment of the present application further provides an apparatus for carrying out any one of the methods described above. For example, the apparatus includes a unit (or means) configured to carry out a step performed by a vehicle in any one of the methods described above.

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

[0254] Optionally, the recommendation unit 2402 may be further configured to recommend a second parking area to the user based on relative positional relationships and the user's second driving behavior, and multiple parking areas may include a second parking area.

[0255] Optionally, the device 2400 further includes a first determination unit configured to determine a vehicle parking mode based on relative positional relationships and a third driving action of the user before an acquisition unit acquires information about a plurality of parking areas, wherein the parking mode includes entering a parking area or exiting a parking area.

[0256] Optionally, the first driving action includes the first gear information of the vehicle and the first steering information of the steering wheel of the vehicle. The first steering information of the steering wheel corresponds to the first steering direction of the wheels. The parking mode is to enter the parking area. The recommendation unit is specifically configured to recommend the first parking area to the user based on the first gear information and the included angle between the first steering direction and the direction of the first side of each parking area. The first side corresponds to the direction in which the vehicle enters the parking area.

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

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

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

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

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

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

[0263] It should be understood that the division into units in the aforementioned device is merely a logical functional division. In actual implementation, all or part of the units may be integrated into a single physical entity, or they may be physically separated. In addition, units within the device may be implemented in a form in which software is invoked by a processor. For example, the device includes a processor, the processor is connected to memory, the memory stores instructions, and the processor invokes the instructions stored in memory to perform either the aforementioned method or the function of a unit within the device. For example, the processor is a general-purpose processor, such as a CPU or microprocessor, and the memory is either in-device memory or external memory. Alternatively, units within the device may be implemented in the form of hardware circuits, and the functions of some or all of the units may be implemented by designing hardware circuits. Hardware circuits can be understood as one or more processors. For example, in one embodiment, the hardware circuit is an ASIC, and the functions of some or all of the units are implemented by designing 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. An FPGA may contain numerous logic gate circuits, the connections between these logic gate circuits are configured using a configuration file, and it implements some or all of the functions of the aforementioned units. All units of the aforementioned device may be implemented in the form of software invoked by a processor, or in the form of hardware circuits, with some units implemented in the form of software invoked by a processor and the remaining units implemented in the form of hardware circuits.

[0264] 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 having the ability to read and execute instructions, such as a CPU, microprocessor, GPU, or DSP. In another embodiment, the processor can perform specific functions by using logical relationships of hardware circuits, which are 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 by which the processor loads a configuration document to implement a hardware circuit configuration may be understood as the process by which the processor loads instructions to implement some or all of the functions of the aforementioned units. In addition, the processor may be a hardware circuit designed for artificial intelligence and may be understood as an ASIC, such as an NPU, TPU, or DPU.

[0265] It can be seen that the units within the aforementioned apparatus may be configured as one or more processors (or processing circuits) for carrying out the aforementioned method, for example, as a CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

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

[0267] One embodiment of this application further provides an apparatus, the apparatus including a processing unit and a storage unit. The storage unit is configured to store instructions, and the processing unit executes the instructions stored in the storage unit to enable the apparatus to perform methods or steps performed in the above-described embodiments.

[0268] Optionally, if the device is located inside a vehicle, the processing unit may be processors 151 to 15n as shown in Figure 1.

[0269] One embodiment of this application further provides a vehicle, which may include a device 2400.

[0270] One embodiment of this application further provides a computer program product. The computer program product includes computer program code, and when the computer program code is executed on a computer, the computer is enabled to perform a method.

[0271] One embodiment of this application further provides a computer-readable medium. The computer-readable medium stores program code, and when the computer program code is executed on a computer, the computer is made able to perform the method.

[0272] In the implementation process, the steps in the aforementioned method may be implemented by using hardware-integrated logic circuits within the processor or by using instructions in the form of software. The method disclosed with reference to embodiments of this application may be performed directly by a hardware processor or by using a combination of hardware and software modules within the processor. The software modules may be located in mature storage media of the art, such as random-access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. The storage medium is located in memory, and the processor reads information from memory and, in combination with the processor's hardware, completes the steps in the aforementioned method. To avoid repetition, further details are not described here.

[0273] In this embodiment of the present application, it should be understood that the memory includes read-only memory and random-access memory, and is capable of providing instructions and data to the processor.

[0274] It should be further understood that the sequential numbering of the processes described above in the various embodiments of this application does not imply an execution order. The execution order of the processes should be determined based on the function and internal logic of the processes and should not be construed as any limitation on the implementation processes in the embodiments of this application.

[0275] Those skilled in the art will recognize, in combination with the examples described in the embodiments disclosed herein, that the units and algorithmic steps may be implemented by electronic hardware or by a combination of computer software and electronic hardware. Whether the functions are 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 for each specific application, but the embodiments should not be considered to exceed the scope of this application.

[0276] For the sake of simplicity, it will be readily apparent to those skilled in the art that the detailed operating processes of the aforementioned systems, apparatus, and units should be described by referring to the corresponding processes in the method embodiments described above. Further details are not described herein.

[0277] In some embodiments provided in this application, it should be understood that the disclosed systems, apparatus, and methods may be implemented in other forms. For example, the apparatus embodiments described are merely illustrative. For example, the division into units is merely a logical functional division and may be other divisions in actual implementation. For example, multiple units or assemblies may be combined or integrated into another system, or some features may be ignored or omitted. In addition, the mutual coupling, direct coupling, or communication connection shown or discussed may be implemented through some interfaces. Indirect coupling or communication connection between apparatus or units may be implemented in electronic, mechanical, or other forms.

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

[0279] In addition, the functional units in the embodiments of this application may be integrated into a single processing unit, each unit may exist physically independently, or two or more units may be integrated into a single unit.

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

[0281] The foregoing description is only a specific embodiment of this application and is not intended to limit the protection scope of this application. Any deformation or substitution that can be easily conceived by those skilled in the art within the technical scope disclosed in this application shall fall within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Description of Reference Signs

[0282] 100 Vehicle 120 Sensing System 130 Display Device 150 Computing Platform 151, 152, 15n Processor 300 Method 401 Inverse Perspective Mapping Image 402 Rear View Image 403 "Automatic Parking" Control 404 "Remote Parking" Control 405 "Parking Area Switching" Control 406 "Cancel" Control 1001 Prompt Box 1002 "Automatic Parking" Control 1003 "Remote Parking" Control 1004 "Cancel" control 1100 Parking Method 1201 IPM image 1202 Rear view image 1203 Dynamically predicted trajectory 1204 Orbit support function 1205 Intelligent Parking Trajectory 1301 Prompt Information 1400 methods 1501 Prompt Information 1701 Prompt Information 1702 "Start" control 1703 "Cancel" control 1801 Prompt Information 1802 "OK" control 1803 "Cancel" control 1901 Prompt Information 1902 "OK" control 1903 "Cancel" control 1904 Prompt Information 2001 Prompt Window 2002 "Start Adjustment" Control 2003 "Pause" control 2101 "Remote Parking" Control 2102 "Cancel" control 2103 "Start" control 2201 Prompt Box 2202 "Exit to the left" control 2203 "Exit to the right" control 2300 Parking Method 2400 Parking System 2401 acquired units 2402 Recommended Units

Claims

1. Steps include obtaining information about multiple parking areas, The steps include obtaining the relative positional relationship between the vehicle and each of the plurality of parking areas, A step of recommending a first parking area to the user based on the relative positional relationship and the user's first driving behavior, wherein the plurality of parking areas include the first parking area, the first driving behavior includes at least first steering information of the steering wheel of the vehicle, the first steering information of the steering wheel corresponds to a first steering direction of the wheel, and the first parking area is recommended at least based on the first steering direction of the wheel. Parking methods, including those mentioned.

2. The method described above is A step of recommending a second parking area to the user based on the relative positional relationship and the user's second driving behavior, wherein the plurality of parking areas include the second parking area. The method according to claim 1, further comprising:

3. Prior to the step of recommending the first parking area to the user, the method A step of determining the parking mode of the vehicle based on the relative positional relationship and the user's third driving action, the step including the parking mode being entering or exiting the parking area. The method according to claim 1, further comprising:

4. The first driving action further includes first gear information of the vehicle, the parking mode is entering a parking area, and the step of recommending a first parking area to the user based on the relative positional relationship and the user's first driving action is A step of recommending the first parking area to the user based on the first gear information and the angle between the first steering direction and the direction of the first side of each parking area, wherein the first side corresponds to the direction in which the vehicle enters the parking area. The method according to claim 3, including the method described in claim 3.

5. The method according to claim 3, wherein the relative positional relationship further includes the distance between the vehicle and each parking area, and information relating to the direction of the second side of the vehicle and the angle between the connecting line between the wheel center point of the second side and the center point of the parking space line of each parking area on the first side, wherein the first side and the second side correspond to the direction in which the vehicle enters the parking area.

6. Prior to the step of determining the parking mode of the vehicle, the method The step of determining that the speed of the vehicle is below a predetermined speed threshold. The method according to claim 3, further comprising:

7. The method described above is A step of determining information regarding the parking trajectory from the vehicle's current position to the first parking area, and information regarding the first parking area, based on the vehicle's pose. A step of prompting the user for the information relating to the parking track. The method according to claim 1, further comprising:

8. The information relating to the parking trajectory includes one or more of the number of planned gear changes, the planned parking route, and the planned parking duration in the process of driving the vehicle from its current position to the first parking area. The method described above is The following conditions, namely, To detect that the number of gear changes made by the user in the process of driving from the current position to the first parking area is equal to or greater than the number of planned gear changes, Detecting that the length of the vehicle's driving path from the current position to the first parking area is greater than or equal to the length of the planned parking path, or To detect that the duration of parking of the vehicle from the current location to the first parking area is equal to or greater than the planned parking duration, Steps to prompt the user to use the automatic parking function when one or more of the following conditions are met. The method according to claim 7, further comprising:

9. The method described above is If the vehicle is parked in the first parking area and the vehicle is not parked in the center of the first parking area, the user is prompted to acknowledge that the vehicle is not parked in the center of the first parking area, or the user is prompted to use the automatic parking function. The method according to claim 1, further comprising:

10. The method according to claim 2, wherein the second driving action includes second gear information and / or second steering information for the steering wheel.

11. The method according to claim 3, wherein the third driving action includes one or more of the following: third gear information, third steering information of the steering wheel, information regarding whether the vehicle was powered on within a first preset duration before the parking mode of the vehicle is determined, and automatic parking modes in which the vehicle is before the parking mode of the vehicle is determined.

12. An acquisition unit configured to acquire information about multiple parking areas, further configured to acquire the relative positional relationship between a vehicle and each of the multiple parking areas, A recommendation unit configured to recommend a first parking area to a user based on the relative positional relationship and the user's first driving behavior, wherein the plurality of parking areas include the first parking area, the first driving behavior includes at least first steering information of the steering wheel of the vehicle, the first steering information of the steering wheel corresponds to a first steering direction of the wheel, and the recommendation unit recommends the first parking area at least based on the first steering direction of the wheel. A parking device equipped with the following features.

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

14. The aforementioned device A first determination unit configured to determine the parking mode of the vehicle based on the relative positional relationship and the user's third driving action, wherein the parking mode includes entering or exiting a parking area. The apparatus according to claim 12, further comprising:

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

16. The apparatus according to claim 14, wherein the relative positional relationship further includes the distance between the vehicle and each parking area, and information relating to the direction of the second side of the vehicle and the angle between the connecting line between the wheel center point of the second side and the center point of the parking space line of each parking area on the first side, wherein the first side and the second side correspond to the direction in which the vehicle enters the parking area.

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

18. The aforementioned device A second determination unit configured to determine information regarding the parking trajectory from the vehicle's current position to the first parking area, and information regarding the first parking area, based on the vehicle's pose. A first facilitation unit configured to prompt the user for the information relating to the parking track, The apparatus according to claim 12, further comprising:

19. The information relating to the parking trajectory includes one or more of the number of planned gear changes, the planned parking route, and the planned parking duration in the process of driving the vehicle from its current position to the first parking area. The first acceleration unit is subject to the following conditions, namely, To detect that the number of gear changes made by the user in the process of driving from the current position to the first parking area is equal to or greater than the number of planned gear changes, Detecting that the length of the vehicle's driving path from the current position to the first parking area is greater than or equal to the length of the planned parking path, or To detect that the duration of parking of the vehicle from the current location to the first parking area is equal to or greater than the planned parking duration, The apparatus according to claim 18, further configured to prompt the user to use the automatic parking function when one or more of the following conditions are met.

20. The aforementioned device A second prompting unit is configured to prompt the user that the vehicle is not parked in the center of the first parking area, or to prompt the user to use the automatic parking function, if the vehicle is parked in the first parking area and the vehicle is not parked in the center of the first parking area. The apparatus according to claim 12, further comprising:

21. The apparatus according to claim 13, wherein the second driving action includes second gear information and / or second steering information for the steering wheel.

22. The apparatus according to claim 14, wherein the third driving action includes one or more of the following: third gear information, third steering information of the steering wheel, information regarding whether the vehicle was powered on within a first preset duration before the parking mode of the vehicle is determined, and automatic parking modes in which the vehicle is before the parking mode of the vehicle is determined.

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

24. A vehicle comprising the device described in any one of claims 12 to 22.

25. A computer-readable storage medium, wherein the computer-readable storage medium stores program code, and when the program code is executed on a computer, the computer is enabled to perform the method according to any one of claims 1 to 11.

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