Parking method and apparatus, and vehicle

Abstract

A parking method and apparatus, and a vehicle. The parking method comprises: acquiring pose information, which comprises pose information of a vehicle during the process of a user driving the vehicle to park the vehicle in a target parking space; and on the basis of the pose information, controlling the vehicle to automatically park in the target parking space. The method can be applied to an intelligent vehicle or an electric vehicle, and pose information of a vehicle is memorized during the process of a user driving the vehicle to park the vehicle in a target parking space, such that, when next time the user wants to park the vehicle in the target parking space, the vehicle can be automatically controlled by means of an automatic parking function and on the basis of the pose information memorized previously, such that the vehicle is parked in the target parking space.

Description

Parking method, device and vehicle

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on December 20, 2023, with application number 202311766616.5 and invention name “Parking method, device and vehicle”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of intelligent driving, and more specifically, to a parking method, device and vehicle. Background Art

[0003] Automatic parking (AP) refers to the automatic parking of a vehicle, meaning that the autonomous driving system can semi- or fully automatically help the user park the vehicle into a parking space. This includes automatic parking assist (APA), remote parking assist (RPA), and automatic valet parking (AVP).

[0004] Some companies have already introduced parking technologies that can be retrofitted into parking lots. These technologies require deploying a sensor network (for example, 25 lidar sensors per 3 square meters), a wireless communication network, and parking management servers. This makes retrofitting prohibitively expensive and difficult to scale. For unrenovated parking lots, users still face difficulties finding parking spaces. Summary of the Invention

[0005] The present application provides a parking method, device and vehicle, which help to improve the user experience during the parking process.

[0006] In a first aspect, a parking method is provided, the method comprising: obtaining first posture information, the first posture information comprising posture information of the vehicle when a user drives the vehicle into a first target parking space; and controlling the vehicle to automatically park into the first target parking space based on the first posture information.

[0007] Based on the above technical solution, the vehicle's position information during the user's parking process is memorized. The next time the user wants to park the vehicle in the target parking space, the vehicle can use the automatic parking function and the previously memorized position information to automatically park the vehicle in the target parking space, helping to improve the user's parking experience.

[0008] For example, for some special parking spaces, the vehicle can actively memorize the user's position information when parking in the target space, expanding the capabilities of automatic parking, improving parking efficiency and expanding parking scenarios. It also avoids the need for users to manually park in special spaces every time, helping to enhance the user's parking experience and the vehicle's intelligence.

[0009] The above acquisition of the first posture information can also be understood as acquiring a parking trajectory, which includes information of multiple trajectory points, each of which corresponds to a posture.

[0010] In some possible implementations, obtaining the first position information includes: obtaining the first position information when receiving input from the user indicating to start memory parking.

[0011] In some possible implementations, the first posture information includes multiple postures, for example, postures 1-N, where N is an integer greater than 1. For another example, posture 1 may be the posture of the vehicle when the user activates the memory parking function.

[0012] In some possible implementations, the automatic parking method may be applied to the above-mentioned APA.

[0013] In some possible implementations, before obtaining the first posture information, the method further includes: determining that the first target parking space into which the user drives the vehicle is a parking space not identified by data collected by the vehicle's perception system.

[0014] For example, parking spaces not identified by the data collected by the perception system may include parking spaces located on curbs, parking spaces on steps, and parking spaces without planned parking space lines. For example, parking spaces not identified by the perception system may also be parking spaces with complex surroundings or extremely narrow (or small) parking spaces.

[0015] In some possible implementations, before obtaining the first posture information, the method further includes: obtaining information of the first target parking space and obtaining an instruction from the user to turn on APA; and according to the instruction, controlling the vehicle to fail to park in the first target parking space.

[0016] For example, the first target parking space is a narrow space or a space surrounded by special obstacles (e.g., walls or pillars). The aforementioned parking spaces that can be identified by data collected by the perception system and into which the vehicle cannot be parked can also be referred to as unreleased parking spaces. Alternatively, such parking spaces can be understood as spaces that can be identified by data collected by the perception system but into which the vehicle cannot be parked using the current automated parking capabilities.

[0017] In some possible implementations, the first target parking space may also be a parking space of normal size. The vehicle may plan a first parking trajectory for parking into the first target parking space from a first position around the first target parking space. The first parking trajectory includes at least one of a first driving distance, a first number of parking maneuvers, and a first parking duration during the parking process. The vehicle may also obtain a second parking trajectory when the user drives the vehicle from a second position (for example, a distance from the first position is less than or equal to a preset distance) to park into the first target parking space. The second parking trajectory may include a second driving distance, a second number of parking maneuvers, and a second parking duration. The obtaining of the first position posture information includes: obtaining the first position posture information when at least one of the first driving distance is greater than the second driving distance, the first number of parking maneuvers is greater than the second number of parking maneuvers, and the first parking duration is greater than the second parking duration is satisfied.

[0018] Based on the above technical solution, the vehicle can compare the user's parking trajectory into the target parking space with the vehicle's planned parking trajectory. If it is determined that the user's parking distance, parking time, or number of maneuvers into the target parking space are shorter, the vehicle's position information during the user's parking process can be memorized. The next time the vehicle parks into the target space, it can use this memorized position information to control the vehicle. This can make the user's parking more efficient and, by learning the user's driving habits, improve the vehicle's parking capabilities.

[0019] In combination with the first aspect, in certain implementations of the first aspect, the first posture information includes information of multiple postures, and the vehicle is controlled to automatically park in the first target parking space based on the first posture information, including: when the first posture of the vehicle does not match any one of the multiple postures, the vehicle is controlled to adjust from the first posture to a second posture, and the multiple postures include the second posture; based on the postures from the second posture onwards in the multiple postures, the vehicle is controlled to automatically park in the first target parking space.

[0020] Based on this technical solution, if the vehicle's current position doesn't match any of the memorized positions, the system can first adjust the vehicle's position to one of the memorized positions, and then control the vehicle to park in the target parking space based on the memorized position. This eliminates the need for user intervention, helping to avoid tedious user operations when parking in the target space, improving the user's parking experience, and enhancing the vehicle's intelligence.

[0021] In combination with the first aspect, in certain implementations of the first aspect, the multiple postures indicate multiple positions, and the position indicated by the second posture is the position among the multiple positions that is closest to the position indicated by the first posture.

[0022] Based on this technical solution, the vehicle's current position can be determined from the previously memorized parking trajectory, and the vehicle can be controlled to adjust to the posture corresponding to this trajectory point. This can reduce the distance the vehicle travels before parking in the target parking space, helping to shorten the entire parking process and thus improve the user's parking experience.

[0023] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: obtaining first environmental information around the first target parking space; when it is detected that the second environmental information around the vehicle matches the first environmental information, controlling the prompt device to prompt the user to turn on automatic parking; wherein, controlling the vehicle to automatically park into the first target parking space based on the first posture information includes: when obtaining the user's first input, controlling the vehicle to automatically park into the first target parking space based on the first posture information, the first input indicating to turn on automatic parking.

[0024] Based on the above technical solution, when a user drives the vehicle into a target parking space, the vehicle can construct environmental information (or map information) around the first target parking space. In this way, the next time the vehicle arrives near the first target parking space, the data collected by the perception system and the constructed environmental information can determine that the vehicle has driven to the vicinity of the first target parking space, thereby prompting the user to start automatic parking.

[0025] In combination with the first aspect, in certain implementations of the first aspect, obtaining the first environmental information around the first target parking space includes: when it is detected that the speed of the vehicle is less than or equal to a preset speed, obtaining data collected by the perception system; and constructing the first environmental information based on the position of the first target parking space and the data.

[0026] Based on the above technical solution, when the vehicle's speed is less than or equal to a preset speed, data collected by the perception system can be obtained, and the first environmental information can be constructed based on the location of the first target parking space and this data. In this way, when constructing the first environmental information, the location of the first target parking space can be taken into consideration, eliminating the need to construct the first environmental information using data farther away from the first target space, thereby helping to avoid wasting computing resources.

[0027] Exemplarily, the preset speed is 20 kph.

[0028] For example, the vehicle may construct the first environmental information based on data collected by the perception system within a preset distance before the vehicle reaches the first target parking space. For example, the preset distance may be 10 meters.

[0029] In some possible implementations, obtaining the first environmental information around the first target parking space includes: upon receiving an instruction from the user, constructing the first environmental information based on data collected by the perception system, wherein the instruction is used to instruct the construction of the environmental information around the first target parking space.

[0030] In combination with the first aspect, in certain implementations of the first aspect, obtaining the first posture information includes: obtaining the first posture information when the vehicle cannot recognize the first target parking space or the vehicle cannot park in the first target parking space from the current position of the vehicle.

[0031] In combination with the first aspect, in certain implementations of the first aspect, the first target parking space includes a parking space on a curb.

[0032] In a second aspect, a parking device is provided, which includes: an acquisition unit for acquiring first posture information, wherein the first posture information includes the posture information of the vehicle when the user drives the vehicle into the first target parking space; and a control unit for controlling the vehicle to automatically park into the first target parking space according to the first posture information.

[0033] In combination with the second aspect, in certain implementations of the second aspect, the first posture information includes information of multiple postures, and the control unit is used to: when the first posture of the vehicle does not match any one of the multiple postures, control the vehicle to adjust from the first posture to a second posture, and the multiple postures include the second posture; and control the vehicle to automatically park in the first target parking space according to the postures starting from the second posture in the multiple postures.

[0034] In combination with the second aspect, in certain implementations of the second aspect, the multiple postures indicate multiple positions, and the position indicated by the second posture is the position among the multiple positions that is closest to the position indicated by the first posture.

[0035] In combination with the second aspect, in certain implementations of the second aspect, the acquisition unit is further used to acquire first environmental information around the first target parking space; the control unit is further used to control the prompt device to prompt the user to turn on automatic parking when the second environmental information around the vehicle matches the first environmental information; when the user's first input is obtained, the vehicle is controlled to automatically park in the first target parking space according to the first posture information, and the first input indicates to turn on automatic parking.

[0036] In combination with the second aspect, in certain implementations of the second aspect, the acquisition unit is used to: acquire data collected by sensors outside the cabin when it is detected that the speed of the vehicle is less than or equal to a preset speed; and construct the first environmental information based on the position of the first target parking space and the data.

[0037] In combination with the second aspect, in certain implementations of the second aspect, the acquisition unit is used to: acquire the first posture information when the vehicle cannot identify the first target parking space or the vehicle cannot plan a parking trajectory from the current position of the vehicle to the first target parking space.

[0038] In combination with the second aspect, in certain implementations of the second aspect, the first target parking space includes a parking space on a curb.

[0039] In a third aspect, a control device is provided, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to enable the device to perform any possible control method in the first aspect.

[0040] In a fourth aspect, a control system is provided, which includes a perception system and a computing platform, and the computing platform includes any possible control device in the second aspect or the third aspect mentioned above.

[0041] In a fifth aspect, the present application provides a vehicle, which includes any possible control device in the second aspect or the third aspect, or includes the control system described in the fourth aspect.

[0042] In a sixth aspect, the present application provides a computer program product, comprising: a computer program code, which, when executed on a computer, enables the computer to execute any possible method of the first aspect.

[0043] It should be noted that the above-mentioned computer program code can be stored in whole or in part on the first storage medium, wherein the first storage medium can be packaged together with the processor or separately packaged with the processor, and the embodiments of the present application do not specifically limit this.

[0044] In a seventh aspect, the present application provides a computer-readable medium storing a program code, which enables the computer to execute any possible method in the first aspect when the computer program code is run on the computer.

[0045] In an eighth aspect, the present application provides a chip comprising a circuit for executing any possible method in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] FIG1 is a functional block diagram of a vehicle provided in an embodiment of the present application.

[0047] FIG2 is a schematic flowchart of a parking method provided in an embodiment of the present application.

[0048] FIG3 is a schematic diagram of an application scenario provided by an embodiment of the present application.

[0049] FIG4 is another schematic diagram of an application scenario provided by an embodiment of the present application.

[0050] FIG5 is another schematic flowchart of the parking method provided in an embodiment of the present application.

[0051] FIG6 is a schematic diagram of an interactive method when a vehicle parks in a target parking space for the first time according to an embodiment of the present application.

[0052] FIG7 is a schematic diagram of an interaction method provided by an embodiment of the present application when a vehicle drives around a target parking space again.

[0053] FIG8 is an HMI provided in an embodiment of the present application.

[0054] FIG9 is a schematic flowchart of a parking method provided in an embodiment of the present application.

[0055] FIG10 is another HMI provided by an embodiment of the present application.

[0056] FIG11 is a schematic block diagram of a parking device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a way to describe the association relationship of associated objects, indicating that there can be three kinds of relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. "At least one" means one or more. For example, "at least one of A and B" is similar to "A and / or B", describing the association relationship of associated objects, indicating that there can be three kinds of relationships, for example, at least one of A and B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0058] In the embodiments of the present application, prefixes such as "first" and "second" are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present application does not constitute a restriction on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary restriction. In addition, in the description of this embodiment, unless otherwise specified, the meaning of "plurality" is two or more.

[0059] Figure 1 is a functional block diagram of a vehicle 100 provided in an embodiment of the present application. The vehicle 100 may include a perception system 110, a computing platform 120 and a display device 130, wherein the perception system 110 may include one or more sensors for sensing information about the environment surrounding the vehicle 100. For example, the perception system 110 may include a positioning system, and the positioning system may be a global positioning system (GPS), or a BeiDou system or other positioning systems. For another example, the perception system 110 may include one or more of an inertial measurement unit (IMU), an acceleration sensor, a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device. Exemplarily, the acceleration sensor may include a sensor for detecting the acceleration signal of an air suspension system, or may also include a sensor for the acceleration signal of an ESC.

[0060] Some or all functions of the vehicle 100 may be controlled by a computing platform 120. The computing platform 120 may include one or more processors, such as processors 121 to 12n (n is a positive integer). A processor is a circuit capable of processing signals. In one implementation, the processor may be a circuit capable of reading and executing instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor may implement certain functions through the logical relationships of a hardware circuit. The logical relationships of the hardware circuit may be fixed or reconfigurable. For example, the processor may be a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration file to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor may also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 120 may also include a memory for storing instructions, and some or all of the processors 121 to 12n may call the instructions in the memory to implement corresponding functions.

[0061] The display devices 130 in the cockpit are mainly divided into two categories: the first is the vehicle-mounted display screen; the second is a projection display screen, such as a head-up display (HUD). The vehicle-mounted display screen is a physical display screen and a key component of the in-vehicle infotainment system. The cockpit can be equipped with multiple displays, such as the digital instrument panel, the central control screen, the display in front of the front passenger (also known as the front passenger), the display in front of the left rear passenger, and the display in front of the right rear passenger. Even the vehicle windows can serve as display screens. A head-up display, also known as a head-up display system, is primarily used to display driving information such as speed and navigation on a display device in front of the driver (such as the windshield). This reduces the driver's gaze shift time, avoids pupil changes caused by the driver's gaze shift, and improves driving safety and comfort. HUDs include, for example, combiner-HUD (C-HUD), windshield-HUD (W-HUD), and augmented reality HUD (AR-HUD). It should be understood that other types of HUD systems may appear as technology evolves, and this application is not limited to this.

[0062] The above display device 130 is described by taking a vehicle-mounted display screen and a projection display screen as examples, and the embodiments of the present application are not limited thereto. For example, the display device 130 can also be a light display screen or a projection screen.

[0063] Vehicle 100 may include an advanced driving assistance system (ADAS). The ADAS utilizes a perception system 110 on the vehicle to acquire information from the vehicle's surroundings, analyze and process the acquired information, and implement functions such as obstacle perception, target recognition, vehicle positioning, path planning, and driver monitoring / reminders, thereby improving the safety, automation, and comfort of vehicle driving. For example, the ADAS may be located in the aforementioned computing platform.

[0064] From a logical function perspective, an ADAS system generally includes three main functional modules: a perception system 110, a decision module, and an execution module. The perception system 110 perceives the vehicle's surroundings through sensors and inputs corresponding real-time data into the decision module; the decision module uses computing devices and algorithms to make corresponding decisions based on the information obtained by the perception module; and the execution module takes corresponding actions after receiving the decision signal from the decision module, such as driving, changing lanes, steering, braking, and warnings.

[0065] ADAS can provide varying degrees of automated driving assistance at different levels of automation (L0-L5), based on artificial intelligence algorithms and information from multiple sensors. These levels are based on the Society of Automotive Engineers (SAE) grading standards. L0 is no automation; L1 is driving assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. At L1-L3, monitoring and responding to road conditions are performed jointly by the driver and the system, with the driver taking over dynamic driving tasks. At L4 and L5, the driver transitions completely to the role of passenger. Currently, ADAS features include, but are not limited to, adaptive cruise control, automatic emergency braking, automated parking, blind spot monitoring, front cross-traffic alert / braking, rear cross-traffic alert / braking, forward collision warning, lane departure warning, lane keep assist, rear collision warning, traffic sign recognition, traffic jam assistance, and highway assistance. It should be understood that the various functions mentioned above may have specific modes at different autonomous driving levels (L0-L5), and the higher the autonomous driving level, the smarter the corresponding mode. For example, automatic parking may include APA, RPA, and AVP. For APA, the driver does not need to operate the steering wheel, but still needs to operate the accelerator and brake on the vehicle; for RPA, the driver can use a terminal (such as a mobile phone) to remotely park the vehicle from outside the vehicle; for AVP, the vehicle can complete parking without a driver. In terms of the corresponding autonomous driving level, APA is approximately at the L1 level, RPA is approximately at the L2-L3 level, and AVP is approximately at the L4 level.

[0066] FIG2 shows a schematic flow chart of a parking method 200 provided in an embodiment of the present application. Method 200 may be executed by the vehicle 100, or by the computing platform 120, or by a system consisting of the computing platform 120 and the perception system 110, or by a system-on-a-chip (SoC) in the computing platform 120, or by a processor, chip, or circuit in the computing platform 120. Method 200 includes:

[0067] S210 , obtaining first posture information, where the first posture information includes posture information of the vehicle when the user drives the vehicle into the first target parking space.

[0068] In one embodiment, before obtaining the first posture information, the method further includes: determining that the first target parking space is a parking space that has not been identified by data collected by a perception system of the vehicle.

[0069] For example, FIG3 shows a schematic diagram of an application scenario provided by an embodiment of the present application.

[0070] The vehicle fails to identify parking space 1 located on the curb through sensors outside the cabin (for example, cameras or lidar) (in reality, parking space 1 does not include parking space lines). When detecting that the user drives the vehicle into parking space 1 on the curb, the vehicle can actively memorize the posture information of the user when the user drives the vehicle into the parking space 1. As shown in Figure 3, the posture information of the user when the user drives the vehicle into the parking space 1 includes information of parking trajectory 1, and the parking trajectory 1 includes trajectory points 1 to trajectory points 8. Each trajectory point can correspond to the posture of a vehicle. The posture of each vehicle can correspond to a position coordinate (x, y, z) and posture information (yaw, pitch, roll). The position coordinate can be a coordinate in the world coordinate system, yaw represents the yaw angle, pitch represents the pitch angle, and roll represents the roll angle.

[0071] FIG3 above illustrates a parking space on a curb as an example. Parking spaces not identified by the data collected by the vehicle's perception system may also include parking spaces on steps, parking spaces without planned parking space lines, etc.

[0072] In one embodiment, before obtaining the first posture information, the method 200 further includes: obtaining information about the first target parking space and receiving a user instruction to enable APA; and, based on the instruction, controlling the vehicle to park in the first target parking space. Exemplarily, the first target parking space is a narrow space or a space surrounded by special obstacles (e.g., walls or pillars).

[0073] For example, FIG4 shows another schematic diagram of an application scenario provided by an embodiment of the present application.

[0074] As shown in Figure 4 (a), the vehicle recognizes Parking Space 2 and detects that the user has selected Parking Space 2 as the target parking space. The vehicle can prompt the user on the display screen, "Parking Space 2 is detected as available. Do you want to enable APA?" Upon detecting the user's input to enable APA, the vehicle can automatically park in Parking Space 2.

[0075] As shown in (b) of FIG4 , when the automatic parking into the parking space 2 fails, the vehicle may prompt the user “Unable to park into the parking space 2, do you need to remember the parking trajectory of the driver parking into the parking space 2?”.

[0076] The above failure of the vehicle to park in parking space 2 can be understood as the vehicle being unable to plan a parking trajectory from its current position to parking space 2, or the vehicle being able to plan a parking trajectory from its current position to parking space 2, but having a high risk of colliding with surrounding obstacles (e.g., pillars, vehicles in other parking spaces) when parking in parking space 2 using the parking trajectory. In this case, the vehicle can be determined to have failed to park in parking space 2.

[0077] In one embodiment, while the vehicle indicates that automatic parking into parking space 2 has failed, it may also prompt the user whether to memorize the parking trajectory of the user's vehicle into parking space 2. Upon receiving the user's input indicating that the user's parking trajectory into parking space 2 has been memorized, the vehicle may memorize the parking trajectory of the user's vehicle into parking space 2. This way, the next time the vehicle approaches parking space 2, it can use APA and the previously memorized parking trajectory to control the vehicle to automatically park into parking space 2.

[0078] The above parking trajectory memorized by the vehicle may include the posture information of the user when the user drives the vehicle into the parking space 2. For example, the parking trajectory includes multiple trajectory points, and each trajectory point may correspond to a posture.

[0079] In one embodiment, the first target parking space may also be a parking space of normal size. The vehicle may plan a first parking trajectory for parking into the first target parking space from a first position around the first target parking space. The first parking trajectory includes at least one of a first driving distance, a first number of parking maneuvers, and a first parking duration during the parking process. The vehicle may also obtain a second parking trajectory when the user drives the vehicle from a second position (for example, the distance between the second position and the first position is less than or equal to a preset distance) to park into the first target parking space. The second parking trajectory may include a second driving distance, a second number of parking maneuvers, and a second parking duration. The obtaining of the first position posture information includes: obtaining the first position posture information when at least one of the first driving distance is greater than the second driving distance, the first number of parking maneuvers is greater than the second number of parking maneuvers, and the first parking duration is greater than the second parking duration is satisfied.

[0080] For example, at time T1, the vehicle may plan parking trajectory 1 from position 1 around parking space 3 into parking space 3. This parking trajectory 1 includes information about the parking distance (8 meters), the number of parking attempts (2 times), and the parking duration (e.g., 50 seconds). At time T2, after time T1, the vehicle acquires parking trajectory 2, which is the result of the user parking the vehicle from position 2 around parking space 3 (the distance between position 2 and position 1 is less than or equal to a preset distance (e.g., 0.5 meters) into parking space 3. Based on parking trajectory 1 and parking trajectory 2, the vehicle may determine whether to replace the planned parking trajectory 1 with parking trajectory 2, the result of the user parking the vehicle into parking space 3.

[0081] For example, if the parking distance corresponding to parking trajectory 2 is 6 meters, the vehicle can use parking trajectory 2 as the parking trajectory for automatically parking in parking space 3.

[0082] For another example, if the number of parking attempts corresponding to parking trajectory 2 is 1, the vehicle can use parking trajectory 2 as the parking trajectory for automatically parking in parking space 3.

[0083] For another example, if the parking time corresponding to parking trajectory 2 is 30 seconds, the vehicle can use parking trajectory 2 as the parking trajectory for automatically parking in parking space 3.

[0084] For example, at time T3 , when the vehicle drives around parking space 3 and detects that the user turns on APA, the vehicle can control the vehicle to park in parking space 3 according to the parking trajectory 2 .

[0085] The above-mentioned "lock shifts" can now be associated with the number of times the vehicle switches gears while parking into the target parking space. For example, taking the user driving the vehicle into parking space 3 as an example, if the user can park the vehicle directly into parking space 3 in reverse gear (R gear), it means that the user has completed parking with 0 "lock shifts." If the user cannot park the vehicle directly into parking space 3 after shifting into R gear, and needs to switch from R gear to forward gear (D gear) and drive the vehicle for a certain distance, and then switch from D gear to R gear before parking the vehicle into parking space 3, it means that the user has completed parking with one "lock shift." Similarly, the more times the user switches between D gear and R gear, the more times the user has "locked the vehicle."

[0086] In an embodiment of the present application, the vehicle can compare the parking trajectory of the user when parking into the target parking space with the vehicle's planned parking trajectory. If it is determined that the user's parking distance, parking time, or number of parking maneuvers when parking into the target parking space are shorter, the vehicle's position information during the user's parking into the target parking space can be memorized. The next time the vehicle is parked into the target parking space, it can use the memorized position information to control the vehicle, thus making the user's parking more efficient. At the same time, by learning the user's driving habits, the vehicle's parking capabilities can be improved, and the vehicle's intelligence level can also be enhanced.

[0087] S220: Control the vehicle to automatically park in the first target parking space according to the first posture information.

[0088] In one embodiment, the first posture information includes information of multiple postures, and the controlling the vehicle to automatically park into the first target parking space based on the first posture information includes: when the first posture of the vehicle does not match any one of the multiple postures, controlling the vehicle to adjust from the first posture to a second posture, the multiple postures including the second posture; and controlling the vehicle to automatically park into the first target parking space based on the postures from the second posture onwards in the multiple postures.

[0089] In one embodiment, when the first posture of the vehicle does not match any of the multiple postures, the vehicle may also prompt to adjust the vehicle's posture to the second posture.

[0090] If the vehicle's current parking position doesn't match any of the memorized positions, the system can first adjust the vehicle's position to one of the memorized positions, and then control the vehicle to park in the target parking space based on the memorized position. This entire process requires no user intervention, helping to avoid tedious user operations when parking in the target space, improving the user's parking experience, and enhancing the vehicle's intelligence.

[0091] In one embodiment, the multiple postures indicate multiple positions, and the position indicated by the second posture is the position closest to the position indicated by the first posture among the multiple positions. Thus, based on the vehicle's current position, a trajectory point closest to the current position is determined from the parking trajectory, and the vehicle is controlled to adjust to the posture corresponding to this trajectory point. This minimizes the distance the vehicle travels before parking in the target parking space, helps reduce parking time, and improves the user's parking experience.

[0092] In one embodiment, the method 200 further includes: obtaining first environmental information around the first target parking space; when detecting that second environmental information around the vehicle matches the first environmental information, controlling a prompt device to prompt a user to turn on automatic parking; wherein, controlling the vehicle to automatically park into the first target parking space based on the first posture information includes: when obtaining a first input from the user, controlling the vehicle to automatically park into the first target parking space based on the first posture information, the first input indicating turning on automatic parking.

[0093] The above-mentioned first environmental information can also be understood as map information around the first target parking space. The map information may include information about characteristic objects around the first target parking space, for example, speed bumps, pillars, walls, curbs, the parking space number of the first target parking space (for example, B1-C009), parking space information on the pillar (for example, B1-C area), electric meter box, fire hydrant, lamp pole, traffic sign, ground sign, road sideline, ditch, etc.

[0094] In one embodiment, detecting that the second environmental information surrounding the vehicle matches the first environmental information includes detecting that environmental features surrounding the vehicle are at least partially identical to environmental features in the first environmental information. For example, the first environmental information includes parking space information on a pillar (e.g., zones B1-C). When the vehicle detects, via a camera outside the cabin, that the parking space information on the pillar is identical to the parking space information in the first environmental information, the display screen may be controlled to indicate that the vehicle is near a target parking space and to prompt the user to enable automatic parking.

[0095] In one embodiment, obtaining the first environmental information around the first target parking space includes: obtaining data collected by a perception system when detecting that the speed of the vehicle is less than or equal to a preset speed; and constructing the first environmental information based on the position of the first target parking space and the data.

[0096] Exemplarily, the preset speed is 20 kph.

[0097] For example, the vehicle may construct the first environmental information based on data collected by the perception system within a preset distance before the vehicle reaches the first target parking space. For example, the preset distance may be 10 meters.

[0098] In one embodiment, obtaining the first environmental information around the first target parking space includes: upon receiving an instruction from the user, constructing the first environmental information based on data collected by the perception system, wherein the instruction is used to instruct the construction of the environmental information around the first target parking space.

[0099] In one embodiment, the method includes: obtaining the first posture information when the vehicle cannot identify the first target parking space or the vehicle cannot park into the first target parking space from the current position of the vehicle.

[0100] In one embodiment, the first target parking space includes a parking space on a curb.

[0101] FIG5 shows a schematic flow chart of a parking method 500 provided in an embodiment of the present application. The method 500 includes:

[0102] S501, when the target parking space cannot be identified based on the data collected by the perception system, or when the target parking space is identified based on the data collected by the perception system and the regulation and control module cannot control the vehicle to park in the target parking space, the processing unit controls the prompt device to prompt the user to turn on memory parking.

[0103] The above processing units may be located in the above computing platform 120 .

[0104] Exemplarily, the prompting device may be a display screen or a sound-generating device (eg, a speaker).

[0105] For example, when the processing unit cannot identify the target parking space based on the data collected by the perception system, the processing unit can control the display screen to display a prompt message "No target parking space is detected around the vehicle. Do you want to turn on memory parking? During the memory parking process, the parking trajectory of your driving the vehicle into the target parking space will be memorized."

[0106] For example, when the processing unit identifies the target parking space based on the data collected by the perception system and the regulation and control module cannot control the vehicle to park in the target parking space, the processing unit can control the display screen to display a prompt message "Unable to park in the target parking space, do you want to turn on memory parking? During the memory parking process, the parking trajectory of your driving the vehicle into the target parking space will be memorized."

[0107] S502, when receiving the user's input to start memory parking, the processing unit sends instruction 1 to the perception system, where instruction 1 is used to instruct the perception system to collect environmental data around the target parking space.

[0108] S503: The processing unit sends an instruction 2 to the regulation and control module. The instruction 2 is used to instruct the regulation and control module to memorize the parking trajectory of the user driving the vehicle into the target parking space.

[0109] The above parking trajectory may include multiple trajectory points (such as trajectory points 1-8 shown in FIG3 , each trajectory point may correspond to a posture).

[0110] The above instruction 2 is used to instruct the regulation and control module to memorize the parking trajectory of the vehicle. It can also be understood that the instruction 2 is used to instruct the regulation and control module to memorize the posture information of the vehicle when the user drives the vehicle into the target parking space.

[0111] S504: The perception system sends the environmental data collected by the sensor to the processing unit.

[0112] S505, when the vehicle is parked in the target parking space, the regulation and control module saves the parking trajectory of the user driving the vehicle into the target parking space and sends instruction 3 to the processing unit, where instruction 3 is used to indicate that the regulation and control module has successfully memorized the parking trajectory of the user driving the vehicle into the target parking space.

[0113] For example, when the processing unit receives the instruction 3, the processing unit can control the display screen to display a prompt message "The parking trajectory of your vehicle into the target parking space has been memorized. You can use automatic parking the next time you arrive near the target parking space."

[0114] S506: The processing unit constructs environmental information around the target parking space based on the data sent by the perception system.

[0115] The above processing unit constructing the environmental information around the target parking space can also be understood as the processing unit constructing map information (localmap) around the target parking space.

[0116] The above S501-S506 can be understood as the process of the vehicle parking into the target parking space for the first time. During this process, the user can drive the vehicle into the target parking space and the vehicle can memorize the parking trajectory of the user driving the vehicle into the target parking space and construct the environmental information around the target parking space.

[0117] S507 , when the environmental information around the vehicle matches the environmental information constructed by the vehicle in S506 , the processing unit controls the prompting device to prompt the user to start automatic parking.

[0118] The implementation process of determining that the environmental information around the vehicle matches the environmental information constructed by the vehicle in S506 can refer to the description in the above embodiment and will not be repeated here.

[0119] The above description of S507 uses the example of the processing unit controlling the prompting device to prompt the user to activate automatic parking. However, embodiments of the present application are not limited to this. For example, the processing unit may also prompt the user to activate driver-assisted parking. Upon receiving user confirmation to activate driver-assisted parking, the processing unit may control the display to display the parking trajectory information memorized in S505. This allows the user to control vehicle driving based on the memorized parking trajectory information.

[0120] For example, user A is a strong driver and can park into a target parking space. The vehicle memorizes the parking trajectory of user A as they park into the target space. When user B, a less skilled driver, approaches the target space, the vehicle displays the memorized parking trajectory. This allows user B to successfully park into the target space using the memorized trajectory.

[0121] S508 , when receiving the user's input to start memory parking, the processing unit sends instruction 4 to the regulation and control module, where instruction 4 is used to instruct the vehicle to park in the target parking space.

[0122] S509 , the control module controls the vehicle to park in the target parking space according to the instruction 4 and the parking trajectory memorized in S505 .

[0123] The above S507-509 is the process of the vehicle parking in the target parking space again.

[0124] By memorizing the parking trajectory (or posture information) of the vehicle when the user drives the vehicle into the target parking space, the next time the user wants to park the vehicle in the target parking space, the vehicle can control the vehicle to automatically park in the target parking space through the automatic parking function and the previously memorized posture information. For some special parking spaces, by actively memorizing the posture information when the user drives the vehicle into the target parking space, the ability boundary of automatic parking can be expanded, the efficiency of parking can be improved, and the parking scene can be expanded. At the same time, it also avoids the process of users having to manually park every time they encounter a special parking space, which helps to improve the user's parking experience and also helps to improve the intelligence of the vehicle.

[0125] The above regulation and control module and the processing unit may be two independent units, or the regulation and control module may also be located in the processing unit, which is not specifically limited in the embodiment of the present application.

[0126] In the above method 500, when the processing unit cannot identify the parking space through the data collected by the perception system, or when the processing unit can identify the parking space through the data collected by the perception system and the planning module cannot control the vehicle to park in the target parking space, the vehicle control prompt device prompts the user whether it is necessary to memorize the parking trajectory of the user driving the vehicle into the target parking space. The embodiments of the present application are not limited to this.

[0127] For example, the vehicle can also memorize the user's parking trajectory into the target parking space without prompting the user. This process can be silent to the user, or the user can be unaware of it. This can further reduce the user's tedious operations. The next time the user drives the vehicle to the target parking space, they can control the vehicle to park in the target space based on the environment around the target parking space and the actively memorized parking trajectory of the user.

[0128] FIG6 is a schematic diagram showing an interactive method when a vehicle parks in a target parking space for the first time according to an embodiment of the present application.

[0129] When the processing unit cannot identify the target parking space through the data collected by the perception system, or when the processing unit can identify the target parking space through the data collected by the perception system and the planning module cannot control the vehicle to park in the target parking space, the processing unit can control the human machine interface (HMI) to prompt the user to drive the vehicle to park in the target parking space. During the process of the user driving the vehicle to park in the target parking space, the perception system can collect data and send the collected data to the processing unit, so that the processing unit constructs first environmental information around the target parking space based on the data; at the same time, the planning module can memorize the parking trajectory (or the vehicle's position information) during the process of the user driving the vehicle to park in the target parking space.

[0130] FIG7 shows a schematic diagram of an interaction method 700 provided by an embodiment of the present application when a vehicle drives around a target parking space again. The interaction method 700 includes:

[0131] S701, the perception system sends the collected data to the processing unit.

[0132] S702 , when the second environment information matches the first environment information, the processing unit controls the HMI to prompt the user that the environment matching is successful and prompts the user to turn on memory parking. The second environment information is determined by the processing unit based on data sent by the perception system.

[0133] In one embodiment, if the processing unit determines that there is already an object (e.g., another vehicle) in the target parking space based on data collected by the perception system, the processing unit can control the prompt device to prompt the user that there is already another vehicle in the target parking space and suggest the user to find a new parking space.

[0134] For example, the processing unit may determine whether the vehicle is located around the target parking space based on data collected by the perception system and the first environmental information previously constructed.

[0135] For example, Figure 8 shows a schematic diagram of an HMI provided by an embodiment of the present application. When the vehicle is detected to be near a target parking space, the vehicle may display a prompt message on the display screen: "The vehicle is detected to be near a target parking space, do you want to enable memory parking?"

[0136] S703: When the processing unit detects that the user clicks on the HMI to confirm the input of starting memory parking, it sends instruction 4 to the regulation and control module.

[0137] S704 , the control module may control the vehicle to park in the target parking space according to the instruction 4 and the memorized parking trajectory.

[0138] In one embodiment, the control module can control the vehicle to park in the target parking space according to a previously memorized parking trajectory. It can also determine in real time the data collected by the perception system and the collision risk between the vehicle and an obstacle (e.g., a pedestrian) during the parking process. If the control module determines that there is a high collision risk between the vehicle and the obstacle, it can control the vehicle to stop. If there is no collision risk or a low collision risk, the vehicle can continue to be controlled to park in the target parking space according to the previously memorized parking trajectory.

[0139] FIG9 shows a schematic flow chart of a parking method 900 provided in an embodiment of the present application. The method 900 may be an implementation method for controlling a vehicle to park in a target parking space based on previously constructed first environmental information and a memorized parking trajectory. The method 900 includes:

[0140] S901: Acquire environmental features around the vehicle.

[0141] S902: Determine whether the environmental features around the vehicle match the environmental features in the first environmental information constructed by the vehicle.

[0142] If the environmental features around the vehicle match the environmental features in the first environmental information constructed by the vehicle, execute S903; otherwise, return to execute S901.

[0143] S903: Control the prompting device to prompt the user to start memory parking.

[0144] S904: When receiving a user input for starting memory parking, determining whether the current posture of the vehicle matches the posture in the parking trajectory.

[0145] If the current position of the vehicle matches a position in the parking trajectory, execute S906; otherwise, execute S905.

[0146] S905: Optimize the current posture of the vehicle.

[0147] In one embodiment, before optimizing the current posture of the vehicle, the method 900 further includes: obtaining the current posture of the vehicle. For example, the vehicle may determine the posture when receiving the user input to start memory parking as the current posture.

[0148] In one embodiment, when the current posture does not match the posture in the parking trajectory, the method 900 further includes: controlling the prompting device to prompt the user to adjust the posture of the vehicle to a posture in the parking posture.

[0149] In one embodiment, the parking trajectory includes postures 1-N, where N is an integer greater than 1, posture 1 is an initial posture, and posture N is a posture of the vehicle after parking in a target parking space. Controlling the prompting device to prompt a user to adjust the vehicle to a posture among the parking postures includes: controlling the display device to display multiple postures in the parking trajectory and prompting the user to adjust the vehicle posture to any one of the multiple postures (e.g., posture 1).

[0150] Exemplarily, optimizing the current posture of the vehicle includes controlling the vehicle to adjust from the current posture to posture 1. Thus, after the posture of the vehicle is adjusted to posture 1, the vehicle can be controlled to park in the target parking space according to postures 1-N.

[0151] For example, FIG10 shows another HMI provided by an embodiment of the present application.

[0152] As shown in Figure 10, the vehicle detects that its current position is near the target parking space and receives a user's instruction to start automatic parking. When the vehicle determines that the vehicle's current posture does not match posture 1 (the posture corresponding to trajectory point 1) in the memorized parking trajectory (including trajectory points 1-8), it can control the HMI to display a prompt message "Please adjust the vehicle's posture to the initial posture of the parking trajectory." When it detects that the user controls the vehicle to adjust to the initial posture (such as posture 1 mentioned above, shown by the dotted line in Figure 10), the vehicle can control the prompt device to prompt the user to release the steering wheel and prompt the vehicle to start memory parking.

[0153] The above description uses the example of the vehicle prompting the user to adjust the vehicle to posture 1, but the embodiments of the present application are not limited thereto. For example, when the vehicle determines that the current posture does not match posture 1, it can also automatically control the vehicle to adjust from the current posture to posture 1, and then control the vehicle to park in the target parking space according to the parking trajectory.

[0154] The above mismatch between the current posture of the vehicle and posture 1 can be understood as the distance between the position indicated by the current posture and the position indicated by posture 1 is greater than or equal to the preset distance (for example, 1 meter), or, it can also be understood as the posture indicated by the current posture is significantly different from the posture indicated by posture 1, for example, the yaw angle indicated by the current posture and the yaw angle indicated by posture 1 are greater than or equal to the preset angle.

[0155] Exemplarily, the parking trajectory includes postures 1-N, and optimizing the current posture of the vehicle includes: controlling the vehicle to adjust from the current posture to posture n, where the distance between the position indicated by posture n and the position indicated by the current posture is less than or equal to a preset distance, where n is a positive integer, n is greater than or equal to 1 and n is less than N.

[0156] For example, the parking trajectory includes trajectory points 1-N, which correspond to postures 1-N. Poses 1-N indicate positions 1-N respectively, and position n indicated by posture n is the position closest to the position indicated by the current posture among positions 1-N.

[0157] S906: Control the vehicle to park in the target parking space according to the parking trajectory.

[0158] For example, if the vehicle's posture is optimized from the current posture to posture n, the vehicle can be controlled to park in the target parking space according to posture nN.

[0159] Figure 11 shows a schematic block diagram of a parking device 1100 provided in an embodiment of the present application. The device 1100 includes: an acquisition unit 1110 for acquiring first-stage posture information, the first-stage posture information including the posture information of the vehicle as the user drives the vehicle into a first target parking space; and a control unit 1120 for controlling the vehicle to automatically park into the first target parking space based on the first-stage posture information.

[0160] Optionally, the first posture information includes information of multiple postures, and the control unit 1120 is used to: when the first posture of the vehicle does not match any one of the multiple postures, control the vehicle to adjust from the first posture to a second posture, and the multiple postures include the second posture; and control the vehicle to automatically park in the first target parking space according to the postures starting from the second posture in the multiple postures.

[0161] Optionally, the multiple postures indicate multiple positions, and the position indicated by the second posture is the position among the multiple positions that is closest to the position indicated by the first posture.

[0162] Optionally, the acquisition unit 1110 is further used to acquire first environmental information around the first target parking space; the control unit 1120 is further used to control the prompt device to prompt the user to turn on automatic parking when the second environmental information around the vehicle matches the first environmental information; when the user's first input is obtained, the vehicle is controlled to automatically park in the first target parking space according to the first posture information, and the first input indicates to turn on automatic parking.

[0163] Optionally, the acquisition unit 1110 is configured to: when the speed of the vehicle is less than or equal to a preset speed, acquire data collected by a sensor outside the cabin; and construct the first environmental information according to the position of the first target parking space and the data.

[0164] Optionally, the acquiring unit 1110 is configured to acquire the first posture information when the vehicle cannot identify the first target parking space or the vehicle cannot plan a parking trajectory from the current position of the vehicle to the first target parking space.

[0165] Optionally, the first target parking space includes a parking space on a curb.

[0166] For example, the acquisition unit 1110 may be the computing platform in Figure 1 or a processing circuit, processor, or controller in the computing platform. For example, if the acquisition unit 1110 is the processor 121 in the computing platform, the processor 121 may acquire the posture information of the user while the user is parking the vehicle in the target parking space.

[0167] For another example, the control unit 1120 may be the computing platform in Figure 1 or a processing circuit, processor, or controller in the computing platform. For example, if the control unit 1120 is the processor 122 in the computing platform, the processor 122 may control the vehicle to automatically park in the target parking space based on the position information obtained by the processor 121.

[0168] The functions implemented by the above-mentioned acquisition unit 1110 and the functions implemented by the control unit 1120 can be implemented by different processors, or can also be implemented by the same processor, which is not limited in the embodiment of the present application.

[0169] It should be understood that the division of the various units in the above device is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a single physical entity, or they may be physically separated. Furthermore, the units in the device may be implemented in the form of a processor calling software; for example, the device includes a processor connected to a memory storing instructions, and the processor calls the instructions stored in the memory to implement any of the above methods or the functions of the various units in the device, where the processor is, for example, a general-purpose processor such as a CPU or a microprocessor, and the memory is a memory within the device or a memory external to the device. Alternatively, the units in the device may be implemented in the form of hardware circuits, and the functions of some or all of the units may be implemented through the design of the hardware circuits. The hardware circuits may be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units may be implemented through the design of the logical relationships between the components within the circuits. In another implementation, the hardware circuit may be implemented using a PLD, such as an FPGA, which may include a large number of logic gate circuits, and the connections between the logic gate circuits may be configured using a configuration file to implement the functions of some or all of the above units. All units of the above apparatus may be implemented entirely in the form of software called by a processor, or entirely in the form of hardware circuits, or partially in the form of software called by a processor and the rest in the form of hardware circuits.

[0170] In an embodiment of the present application, a processor is a circuit with the ability to process signals. In one implementation, the processor may be a circuit with the ability to read and execute instructions, such as a CPU, a microprocessor, a GPU, or a DSP. In another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit may be fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the configuration of the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, DPU, etc.

[0171] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0172] In addition, the various units in the above apparatus may be fully or partially integrated together, or may be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the various units of the apparatus. The at least one processor may be of different types, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0173] An embodiment of the present application further provides a parking device, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to enable the device to perform the method or steps performed in the above embodiment.

[0174] Optionally, if the device is located in a vehicle, the processing unit may be the processors 121 - 12n shown in FIG. 1 .

[0175] An embodiment of the present application further provides a parking system, which may include a computing platform and a prompting device, and the computing platform may include the above-mentioned device 1100.

[0176] An embodiment of the present application further provides a vehicle, which may include the above-mentioned parking device 1100 or parking system.

[0177] An embodiment of the present application further provides a computer program product, which includes: computer program code, which enables the computer to execute the method in the above embodiment when the computer program code is run on a computer.

[0178] An embodiment of the present application further provides a computer-readable medium, wherein the computer-readable medium stores a program code. When the computer program code runs on a computer, the computer executes the method in the above embodiment.

[0179] An embodiment of the present application further provides a chip, which includes a circuit, and the circuit is used to execute the method in the above embodiment.

[0180] During implementation, each step of the above method can be completed by an integrated logic circuit of the hardware in the processor or by instructions in the form of software. The method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or a power-on erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.

[0181] It should be understood that in the embodiment of the present application, the memory may include a read-only memory and a random access memory, and provide instructions and data to the processor.

[0182] It should also be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0183] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0184] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0185] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0186] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0187] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0188] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0189] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be covered and fall within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A parking method, characterized in that: include: Acquire first posture information, where the first posture information includes posture information of the vehicle when the user drives the vehicle to park in the first target parking space; According to the first position information, the vehicle is controlled to automatically park in the first target parking space.

2. The method according to claim 1, characterized in that The first position information includes information of a plurality of position information, and controlling the vehicle to automatically park in the first target parking space according to the first position information includes: When the first posture of the vehicle does not match any of the multiple postures, controlling the vehicle to adjust from the first posture to a second posture, the multiple postures including the second posture; According to the postures starting from the second posture among the multiple postures, the vehicle is controlled to automatically park in the first target parking space.

3. The method according to claim 2, characterized in that The multiple postures indicate multiple positions, and the position indicated by the second posture is the position closest to the position indicated by the first posture among the multiple positions.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: Acquire first environmental information around the first target parking space; When it is detected that the second environmental information around the vehicle matches the first environmental information, the control prompting device prompts the user to start automatic parking; The step of controlling the vehicle to automatically park in the first target parking space according to the first position information includes: When a first input from a user is obtained, the vehicle is controlled to automatically park in the first target parking space according to the first position information, and the first input indicates starting automatic parking.

5. The method according to claim 4, characterized in that The acquiring first environmental information around the first target parking space includes: When it is detected that the speed of the vehicle is less than or equal to a preset speed, acquiring data collected by the perception system; The first environmental information is constructed according to the position of the first target parking space and the data.

6. The method according to any one of claims 1 to 5, characterized in that The obtaining of the first pose information comprises: When the vehicle cannot identify the first target parking space or the vehicle cannot plan a parking trajectory from the current position of the vehicle to the first target parking space, the first position information is acquired.

7. The method according to claim 6, characterized in that The first target parking space includes a parking space on a curb.

8. A parking device, characterized in that: include: an acquiring unit, configured to acquire first posture information, wherein the first posture information includes posture information of the vehicle when the user drives the vehicle to park in the first target parking space; A control unit is used to control the vehicle to automatically park in the first target parking space according to the first position information.

9. The device according to claim 8, characterized in that The first posture information includes information of a plurality of postures, and the control unit is used to: When the first posture of the vehicle does not match any of the multiple postures, controlling the vehicle to adjust from the first posture to a second posture, the multiple postures including the second posture; According to the postures starting from the second posture among the multiple postures, the vehicle is controlled to automatically park in the first target parking space.

10. The device according to claim 9, characterized in that The multiple postures indicate multiple positions, and the position indicated by the second posture is the position closest to the position indicated by the first posture among the multiple positions.

11. The device according to any one of claims 8 to 10, characterized in that The acquisition unit is further used to acquire first environmental information around the first target parking space; The control unit is further configured to control a prompting device to prompt a user to start automatic parking when the second environmental information around the vehicle matches the first environmental information; When a first input from a user is obtained, the vehicle is controlled to automatically park in the first target parking space according to the first position information, and the first input indicates starting automatic parking.

12. The device according to claim 11, characterized in that The acquisition unit is used to: When it is detected that the speed of the vehicle is less than or equal to a preset speed, acquiring data collected by a sensor outside the cabin; The first environmental information is constructed according to the position of the first target parking space and the data.

13. The device according to any one of claims 8 to 12, characterized in that The acquisition unit is used to: When the vehicle cannot identify the first target parking space or the vehicle cannot plan a parking trajectory from the current position of the vehicle to the first target parking space, the first position information is acquired.

14. The device according to claim 13, characterized in that The first target parking space includes a parking space on a curb.

15. A parking device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute the computer program stored in the memory, so that the apparatus performs the method according to any one of claims 1 to 7.

16. A parking system, characterized in that: The control system comprises a perception system and a computing platform, wherein the computing platform comprises the method as claimed in any one of claims 1 to 7.

17. A vehicle, characterized in that: The method comprises a parking device as claimed in any one of claims 8 to 15, or a parking system as claimed in claim 16.

18. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a computer, the method according to any one of claims 1 to 7 is implemented.

19. A chip, characterized in that: include: A circuit for executing the method according to any one of claims 1 to 7.

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