Parking method and apparatus, vehicle and readable storage medium

Abstract

A parking method and apparatus, a vehicle, and a medium. The method comprises: when a memory parking function of a vehicle is triggered, according to vehicle park-out data of the vehicle parked out of a target position to a stop position, obtaining the relationship between vehicle park-out distances and vehicle steering angles; when an automatic park-in function of the vehicle is triggered, determining a target vehicle steering angle of the vehicle; and, when the vehicle is controlled to automatically park into the target position from the stop position, using the corresponding target vehicle steering angle to control the steering wheel of the vehicle.

Description

Parking method, device, vehicle and readable storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on January 2, 2024, with application number 202410004569.9 and invention name “A parking method, device, vehicle and readable storage medium”. The entire contents of the above application are incorporated into this application by reference. Technical Field

[0003] The embodiments of the present application relate to the field of assisted driving technology, and in particular to a parking method, a parking device, a corresponding vehicle, and a corresponding computer-readable storage medium. Background Art

[0004] With the increasing number of family cars on the market, families are increasingly relying on cars for transportation. Limited parking spaces are posing a growing parking challenge to cope with the growing number of vehicles on the market. The difficulty of exiting a vehicle in some of these cramped spaces also plagues drivers and passengers. For example, improperly positioned vehicles on either side of the parking space can make the middle parking space extremely narrow, preventing the doors from opening after parking and preventing occupants from exiting. In some parking spaces, even after parking, the driver's door cannot be opened.

[0005] However, most existing solutions utilize vehicle-mounted radar to assist in parking path planning. Some even employ visual sensors to create parking space maps for automated parking. These designs require high hardware costs and complex algorithms, making automated parking difficult to implement in the vast majority of low-end models and thus beneficial to the general public.

[0006] Public content

[0007] In view of the above problems, a parking method, device, vehicle and medium are proposed to overcome the above problems or at least partially solve the above problems.

[0008] Specifically, the present application provides a parking method involving a vehicle, the method comprising:

[0009] In response to triggering the memory parking function of the vehicle, recording vehicle exit data when the vehicle is parked from the target position to the parked position; wherein the vehicle exit data includes a vehicle steering angle corresponding to a plurality of parking exit times, a total parking exit time, and a vehicle exit speed;

[0010] Integrating the vehicle parking speed based on time to obtain a first mapping relationship between the vehicle parking distance and time;

[0011] Obtaining a total vehicle parking distance according to the total vehicle parking time and the first mapping relationship, wherein the total vehicle parking distance includes the vehicle parking distance; and

[0012] Obtaining a second mapping relationship between the vehicle parking distance and the vehicle steering angle according to the first mapping relationship and the vehicle steering angle corresponding to a plurality of parking-out times;

[0013] In response to triggering an automatic parking function of the vehicle, determining a target vehicle steering angle of the vehicle according to the second mapping relationship; and

[0014] In response to controlling the vehicle to automatically park from the stop position to the target position, the steering wheel of the vehicle is controlled using the corresponding target vehicle steering angles according to a plurality of parking times.

[0015] Furthermore, the vehicle steering angle is determined according to a steering wheel steering angle.

[0016] Furthermore, in response to triggering the automatic parking function of the vehicle, determining the target vehicle steering angle of the vehicle according to the second mapping relationship includes:

[0017] determining a vehicle parking distance corresponding to a plurality of parking times of the vehicle; and

[0018] According to the vehicle parking distances corresponding to the plurality of parking times and the second mapping relationship, target vehicle steering angles corresponding to the plurality of parking times are determined.

[0019] Furthermore, the vehicle further includes a plurality of sensors and a memory, and the recording of the vehicle parking data when the vehicle is parked from the target position to the stop position includes:

[0020] periodically collecting, by means of the plurality of sensors, vehicle parking data when the vehicle is parked from a target position to a stop position; and

[0021] The vehicle parking data is recorded in the memory.

[0022] Furthermore, the vehicle includes an accelerator pedal and a brake pedal, and in response to controlling the vehicle to automatically park from the stopped position to the target position, controlling the steering wheel of the vehicle using the corresponding target vehicle steering angles according to a plurality of parking times includes:

[0023] In response to controlling the vehicle to automatically park from the stopped position to the target position, controlling the vehicle to travel at a preset vehicle parking speed, and controlling the steering wheel of the vehicle using the corresponding target vehicle steering angles according to a plurality of parking times;

[0024] The vehicle parking speed corresponds to a plurality of parking times, and changes in the vehicle parking speed corresponding to the plurality of parking times are divided into three stages, the three stages including: an acceleration stage, a constant speed stage, and a deceleration stage;

[0025] The controlling the vehicle to travel according to a preset vehicle parking speed includes:

[0026] During the acceleration phase, the vehicle parking speed of the vehicle is accelerated from zero to a set speed by using the accelerator pedal;

[0027] During the uniform speed stage, controlling the parking speed of the vehicle to maintain at the set speed for uniform speed travel; and

[0028] During the deceleration phase, the parking speed of the vehicle is decelerated from the set vehicle speed to zero by using the brake pedal to stop the vehicle.

[0029] Furthermore, determining the vehicle parking distances corresponding to the plurality of parking times of the vehicle includes:

[0030] periodically collecting the parking speed of the vehicle by the sensor; and

[0031] The vehicle parking speed is integrated based on time to obtain a vehicle parking distance of the vehicle; wherein the vehicle parking distance corresponds to the plurality of parking times.

[0032] Furthermore, determining the target vehicle steering angles corresponding to the plurality of parking times respectively based on the vehicle parking distances corresponding to the plurality of parking times and the second mapping relationship includes:

[0033] subtracting the vehicle parking distances corresponding to the multiple parking times from the total vehicle parking distance to obtain target vehicle parking distances corresponding to the multiple parking times; and

[0034] According to the target vehicle parking-out distances corresponding to the multiple parking-in times, the vehicle steering angles corresponding to the multiple parking-in times are obtained from the second mapping relationship as the target vehicle steering angle.

[0035] Furthermore, in response to controlling the vehicle to automatically park from the stopped position to the target position, after controlling the steering wheel of the vehicle using the corresponding target vehicle steering angles according to a plurality of parking times, the method further includes:

[0036] In response to triggering the automatic parking function of the vehicle, controlling the automatic parking speed of the vehicle by using the accelerator pedal and the brake pedal;

[0037] periodically collecting the automatic parking exit speed of the vehicle through the sensor; wherein the automatic parking exit speed corresponds to a plurality of automatic parking exit times;

[0038] Integrating the automatic parking speed based on time to obtain the automatic parking distances corresponding to the multiple automatic parking times;

[0039] Obtaining, from the second mapping relationship, the parking vehicle steering angles corresponding to the plurality of automatic parking times, based on the automatic parking distances corresponding to the plurality of automatic parking times; and

[0040] In response to controlling the vehicle to automatically park from the target position to the stop position, the steering wheel of the vehicle is controlled using the corresponding parking vehicle steering angles according to the plurality of automatic parking times.

[0041] Furthermore, in response to controlling the vehicle to automatically park from the stop position to the target position, controlling the steering wheel of the vehicle using the corresponding target vehicle steering angles according to a plurality of parking times, further includes:

[0042] In response to receiving a parking instruction, performing a parking operation of the vehicle according to the parking instruction; or,

[0043] In response to receiving a retraction instruction, the vehicle is controlled to return to the stop position according to the retraction instruction.

[0044] Furthermore, in response to controlling the vehicle to automatically park from the target position to the stop position, controlling the steering wheel of the vehicle using the corresponding parking vehicle steering angles according to the multiple automatic parking times includes:

[0045] In response to receiving the parking instruction, a parking operation of the vehicle is performed according to the parking instruction.

[0046] Furthermore, in response to controlling the vehicle to automatically park from the target position to the stop position, after controlling the steering wheel of the vehicle using the corresponding parking vehicle steering angles according to the multiple automatic parking times, the method further includes:

[0047] In response to triggering the memory parking function again, clearing the memory; or,

[0048] In response to receiving a clear instruction, the memory is cleared according to the clear instruction.

[0049] The present application also provides a parking device, relating to a vehicle, comprising:

[0050] a memory parking function triggering station configured to record vehicle exit data when the vehicle is parked from a target position to a stopped position in response to triggering the memory parking function of the vehicle; wherein the vehicle exit data includes a vehicle steering angle corresponding to a plurality of exit times, a total exit time of the vehicle, and a vehicle exit speed;

[0051] a first mapping station configured to integrate the vehicle parking speed based on time to obtain a first mapping relationship between the vehicle parking distance and time;

[0052] a vehicle parking total distance station, configured to obtain a vehicle parking total distance according to the vehicle parking total time and the first mapping relationship, wherein the vehicle parking total distance includes the vehicle parking distance;

[0053] a second mapping relationship station configured to obtain a second mapping relationship between the vehicle parking distance and the vehicle steering angle according to the first mapping relationship and the vehicle steering angle corresponding to a plurality of parking-out times;

[0054] a target vehicle steering angle determination station, configured to determine a target vehicle steering angle of the vehicle according to the second mapping relationship in response to triggering an automatic parking function of the vehicle; and

[0055] The vehicle automatic parking control station is configured to control the vehicle to automatically park from the stop position to the target position in response to controlling the vehicle to automatically park from the stop position to the target position, and to control the steering wheel of the vehicle using the corresponding target vehicle steering angle according to multiple parking times.

[0056] Furthermore, the vehicle steering angle is determined according to a steering wheel steering angle.

[0057] Furthermore, the target vehicle steering angle determination station includes:

[0058] a vehicle parking distance determination section configured to determine the vehicle parking distance corresponding to a plurality of parking times of the vehicle;

[0059] The target vehicle steering angle determination section is configured to determine the target vehicle steering angles corresponding to the plurality of parking times respectively according to the vehicle parking distances corresponding to the plurality of parking times and a second mapping relationship.

[0060] Furthermore, the vehicle further includes a plurality of sensors and a memory, and the memory parking function trigger station includes:

[0061] a vehicle parking data collection section configured to periodically collect vehicle parking data when the vehicle is parked from the target position to the stop position through the plurality of sensors; and

[0062] The vehicle parking data recording section is configured to record the vehicle parking data in the memory.

[0063] Furthermore, the vehicle includes an accelerator pedal and a brake pedal, and the vehicle automatic parking control station includes:

[0064] a vehicle automatic parking control section, configured to control the vehicle to automatically park at the target position from the stopped position, control the vehicle to travel at a preset vehicle parking speed, and control the steering wheel of the vehicle using the corresponding target vehicle steering angle according to a plurality of parking times;

[0065] The vehicle parking speed corresponds to a plurality of parking times, and changes in the vehicle parking speed corresponding to the plurality of parking times are divided into three stages, the three stages including: an acceleration stage, a constant speed stage, and a deceleration stage;

[0066] The vehicle automatic parking control section includes:

[0067] an acceleration element, configured to accelerate the parking speed of the vehicle from zero to a set vehicle speed by using the accelerator pedal during the acceleration phase;

[0068] A constant speed element is configured to control the parking speed of the vehicle to maintain at the set vehicle speed for constant speed travel during the constant speed stage; and

[0069] The deceleration element is configured to decelerate the parking speed of the vehicle from the set vehicle speed to zero and stop the vehicle by using the brake pedal during the deceleration stage.

[0070] Furthermore, the vehicle parking distance determination segment includes:

[0071] a vehicle parking speed collecting section, configured to periodically collect the vehicle parking speed of the vehicle through the sensor; and

[0072] The vehicle parking distance segment is configured to integrate the vehicle parking speed based on time to obtain the vehicle parking distance of the vehicle; wherein the vehicle parking distance corresponds to the plurality of parking times.

[0073] Furthermore, the target vehicle steering angle determination section includes:

[0074] a target vehicle parking-out distance component configured to subtract the vehicle parking distances corresponding to the plurality of parking times from the total vehicle parking-out distance to obtain target vehicle parking-out distances corresponding to the plurality of parking times; and

[0075] The target vehicle steering angle component is configured to obtain the vehicle steering angles corresponding to the multiple parking times as the target vehicle steering angles from the second mapping relationship according to the target vehicle parking distances corresponding to the multiple parking times.

[0076] Furthermore, after the vehicle automatically parks at the control station, the device further comprises:

[0077] an automatic parking exit speed control station, configured to control the automatic parking exit speed of the vehicle via the accelerator pedal and the brake pedal in response to triggering the automatic parking exit function of the vehicle;

[0078] an automatic parking exit speed collection station, configured to periodically collect the automatic parking exit speed of the vehicle through the sensor; wherein the automatic parking exit speed corresponds to a plurality of automatic parking exit times;

[0079] an automatic parking distance module configured to integrate the automatic parking speed based on time to obtain the automatic parking distances corresponding to the plurality of automatic parking times;

[0080] a parking vehicle steering angle station configured to obtain, from the second mapping relationship, the parking vehicle steering angles corresponding to the plurality of automatic parking times, based on the automatic parking distances corresponding to the plurality of automatic parking times; and

[0081] The vehicle automatic parking control station is configured to control the vehicle to automatically park from the target position to the stop position in response to controlling the vehicle to automatically park from the target position to the stop position, and to control the steering wheel of the vehicle using the corresponding parking vehicle steering angle according to the multiple automatic parking times.

[0082] Furthermore, the vehicle automatic parking control module further includes:

[0083] The vehicle automatically parks in the parking section, and is configured to respond to receiving a parking instruction and then execute a parking operation of the vehicle according to the parking instruction; or

[0084] The vehicle automatically parks in the retraction section, and is configured to control the vehicle to return to the parked position according to the retraction instruction in response to receiving the retraction instruction.

[0085] Furthermore, the automatic parking of the vehicle out of the control station includes:

[0086] The vehicle automatically parks out of the parking section, and is configured to execute the parking operation of the vehicle according to the parking instruction in response to receiving the parking instruction.

[0087] Furthermore, after the vehicle automatically parks out of the control station, the device further includes:

[0088] The memory clearing station clears the memory in response to the memory parking function being triggered again; or, in response to receiving a clearing instruction, clears the memory according to the clearing instruction.

[0089] The present application also provides a vehicle, comprising a processor, a memory, and computer instructions stored in the memory and capable of running on the processor, wherein the computer instructions implement the above-mentioned memory parking method when executed by the processor.

[0090] The present application also provides a computer-readable storage medium, on which computer instructions are stored. When the computer instructions are executed by a processor, the above parking method is implemented. Beneficial effects

[0091] Beneficial effects of this application:

[0092] In an embodiment of the present application, when a driver triggers a memory parking function of a vehicle, parking data of the vehicle when the vehicle is parked from a target position to a stopped position is recorded, wherein the parking data includes a plurality of vehicle steering angles corresponding to parking times, a total parking time of the vehicle, and a parking speed of the vehicle. The parking speed of the vehicle is integrated over time to obtain a first mapping relationship between the parking distance of the vehicle and time. Subsequently, a total parking distance of the vehicle is obtained based on the total parking time and the first mapping relationship. The total parking distance of the vehicle includes the parking distance of the vehicle. A second mapping relationship between the parking distance of the vehicle and the vehicle steering angle is obtained based on the first mapping relationship and the vehicle steering angles corresponding to the plurality of parking times. This facilitates the driver to trigger the automatic parking function of the vehicle through the second mapping relationship. The two mapping relationships determine the target vehicle steering angle of the vehicle. When controlling the vehicle to automatically park from the stopping position to the target position, the corresponding target vehicle steering angle is used to control the steering wheel of the vehicle according to multiple parking times, so that the vehicle can be parked in the target position in reverse according to the previously recorded vehicle parking data without human control. This parking method solves the problem that it is difficult for all people on the vehicle to get off the vehicle in a narrow parking space. It not only makes it convenient for all people on the vehicle to get on and off the vehicle at the appropriate position, that is, the stopping position, but also reduces the relevant hardware of parking training and simplifies the algorithm in the training process, thereby avoiding the high cost of parking training and preventing the occurrence of false triggering of the algorithm, making this parking method more likely to be widely used. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] FIG1 is a flowchart of the steps of a parking method according to an embodiment of the present application;

[0094] FIG2 is an example diagram of a vehicle parking out training and vehicle automatic parking in scenario in an embodiment of the present application;

[0095] FIG3 is a diagram showing the relationship between characteristic physical quantities of a vehicle parking-out training process and a vehicle automatic parking-in process according to an embodiment of the present application;

[0096] FIG4 is an example diagram of changes in the vehicle parking speed / automatic parking speed during the process of automatic parking in and automatic parking out in an embodiment of the present application;

[0097] FIG5 is a schematic structural diagram of a parking device according to an embodiment of the present application. Modes for Carrying Out the Invention

[0098] To make the above-mentioned purposes, features, and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and specific embodiments. It is apparent that the embodiments described are only a portion of the embodiments of this application, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments in this application without inventive effort are also within the scope of protection of this application.

[0099] In the relevant technologies of automatic vehicle parking, body radar sensors are usually used to assist the vehicle in planning the parking path, and visual sensors are used to create a parking map to realize automatic parking of the vehicle. In the process of using body radar sensors and visual sensors to realize automatic parking of the vehicle, based on the input of body radar sensors and visual sensors, a model algorithm is needed to establish the environment around the vehicle. At this time, the model algorithm needs to process and analyze more types of data to build a complete environmental model, resulting in high hardware costs required for existing automatic parking technology and complex algorithms involved, making it difficult for the automatic parking method to be applied to a large number of low-end models and unable to bring help to the majority of vehicle consumers.

[0100] The core concept of the embodiments of the present application is to record the vehicle's parking data when the vehicle is parked from the target position to the stopped position by the driver triggering the vehicle's memory parking function. The vehicle parking data includes the vehicle steering angle corresponding to multiple parking times, the vehicle's total parking time, and the vehicle's parking speed. The vehicle's parking speed is integrated over time to obtain a first mapping relationship between the vehicle's parking distance and time. Subsequently, the total vehicle parking distance is obtained based on the vehicle's total parking time and the first mapping relationship. The total vehicle parking distance includes the vehicle's parking distance. Based on the first mapping relationship and the vehicle steering angles corresponding to the multiple parking times, a second mapping relationship between the vehicle's parking distance and the vehicle steering angle is obtained, which facilitates the driver to trigger the vehicle's automatic parking function. The target vehicle steering angle of the vehicle is determined by the second mapping relationship. When controlling the vehicle to automatically park from the stopped position to the target position, the corresponding target vehicle steering angle is used to control the steering wheel of the vehicle according to multiple parking times. Therefore, the vehicle can be parked in the target position in reverse according to the previously recorded vehicle parking data without human control. This parking method solves the problem of difficulty for all occupants of the vehicle to get off the vehicle in a narrow parking space. It not only makes it convenient for all occupants of the vehicle to get on and off the vehicle at the appropriate position, i.e., the stopped position, but also reduces the hardware related to parking training and simplifies the algorithm in the training process, thereby avoiding the high cost of parking training and the occurrence of algorithm false triggering, making this parking method more likely to be widely used.

[0101] 1 , a flowchart of a parking method according to an embodiment of the present application is shown, which involves a vehicle and may include the following steps:

[0102] Step 101: In response to triggering a memory parking function of the vehicle, recording vehicle exit data when the vehicle is parked from a target position to a stopped position; wherein the vehicle exit data includes a vehicle steering angle corresponding to a plurality of exit times, a total exit time, and a vehicle exit speed;

[0103] Referring to Figure 2, an example diagram of a vehicle parking training and vehicle automatic parking scenario in an embodiment of the present application is shown. The target position P0 is small and limited. When the vehicle is parked at the target position P0, the door cannot be opened, resulting in the phenomenon that the occupants of the vehicle cannot get out of the vehicle. Therefore, the driver can drive the vehicle out of the target position P0 to the stop position P1. The stop position P1 is a position where there is enough space for the door to open and the occupants of the vehicle can get out of the vehicle. Specifically, the process of parking the vehicle from the target position P0 to the stop position P1 is a vehicle parking training process. When all the occupants of the vehicle have gotten out and there is no one in the vehicle, the driver can operate the vehicle to automatically park from the stop position P1 back to the target position P0. Specifically, this process is a vehicle automatic parking process.

[0104] Referring to Figure 3, a diagram illustrating the relationship between characteristic physical quantities during the vehicle unparking training and the automatic parking process in accordance with an embodiment of the present application is shown. As shown in Figure 3, during the unparking training process, the vehicle records the corresponding relationships between the vehicle steering angle, vehicle unparking speed, vehicle unparking distance, and total vehicle unparking distance, as well as time. It also records the corresponding relationship between the vehicle parking distance and time during the automatic parking process. The "Auto" and "Drv" fields in Figure 3 serve only to distinguish between the unparking training process and the automatic parking process. For the automatic parking process, Figure 3 only describes the relationship between the automatic parking distance and the vehicle steering angle.

[0105] Referring to Table 1, a description of the relevant characteristic physical quantities involved in the embodiments of the present application is shown, wherein the characteristic physical quantities involved in Figures 2 and 3 can be specifically referred to Table 1.

[0106] Table 1

[0107] As shown in Figure 2, when the driver drives into a narrow parking space that is not conducive to people getting on and off the vehicle, the driver can trigger the vehicle's memory parking function through the human-machine interface or physical buttons in the vehicle, and the vehicle begins to record the subsequent parking data, as shown in Figure 3, including the vehicle's parking speed V x (t), vehicle steering angle S A (t), the total parking time of the vehicle T. Here, the vehicle parking data recorded by the vehicle may further include vehicle gear position data, accelerator pedal and brake pedal data.

[0108] Before triggering the vehicle's memory parking function, an ultrasonic sensor can be set at the vehicle's door. The ultrasonic sensor can detect obstacles and distances around the vehicle to determine whether there is enough space to open the door. When the vehicle system detects obstacles or insufficient space around the vehicle, it can display corresponding prompt information to the driver through the human-computer interaction interface in the vehicle to remind him to turn on the memory parking function. This can avoid potential risks caused by the driver's inattention.

[0109] The vehicle's parking exit speed can be determined by using wheel speed sensors to collect the speeds of the vehicle's four wheels. The vehicle's steering angle can be determined by monitoring the steering wheel angle using a steering wheel sensor, or by monitoring the steering column angle using a steering column sensor. Alternatively, the vehicle's steering angle can be determined by monitoring the wheel angle using wheel angle sensors installed on the wheels. Vehicle gear position data can be collected using a gear position sensor. Accelerator pedal data can be obtained from the requested torque sent by the engine. Brake pedal data can be obtained from the requested braking force sent by the brake.

[0110] In actual applications, a vehicle will periodically record its parking exit data. To ensure the accuracy of subsequent automatic parking, the recording period can be set to 500ms. That is, each adjacent parking exit time is 500ms apart. It should be noted that the embodiment of the present application does not limit the periodicity of recording the vehicle's parking exit data.

[0111] Step 102: Integrate the vehicle parking speed based on time to obtain a first mapping relationship between the vehicle parking distance and time.

[0112] The real-time vehicle parking speed V obtained by the wheel speed sensor varies with time. x (t) Based on the time integration, a first mapping relationship between the vehicle parking distance and time can be obtained. The specific formula is as follows:

[0113] Here, t in Formula 1 represents the multiple parking times mentioned above. From Formula 1, the vehicle parking distance L corresponding to the multiple parking times can be obtained. Drv (t).

[0114] In the related technologies for obtaining the real-time position of a vehicle, most of them use high-precision positioning devices to collect the real-time position of the vehicle, and the positioning process may also require complex data operations or algorithms such as positioning calculation, coordinate conversion, and error correction. However, in the embodiment of the present application, a relatively simple speed integration algorithm can be used to obtain the vehicle parking distance L corresponding to multiple parking times. Drv (t), during the training process, not only can the positioning device used to collect the vehicle position be omitted, but also there is no need to perform complex data operations or algorithms, thereby reducing the high hardware cost and preventing the algorithm from being triggered incorrectly.

[0115] Step 103: Obtain a total distance of the vehicle parked out according to the total time of the vehicle parked out and the first mapping relationship, where the total distance of the vehicle parked out includes the vehicle parked out distance;

[0116] The total parking exit time T can be calculated based on the vehicle's gear position data. Specifically, when the vehicle's parking memory function is triggered, this is the start time of the vehicle's parking exit training. When the driver shifts the vehicle into the parking gear P, that is, when the vehicle's gear position sensor recognizes that the current vehicle gear is the parking gear, this is the end time of the vehicle's parking exit training. The total parking exit time T is the sum of the start and end times of the vehicle's parking exit training.

[0117] Substituting the total parking time T for t in the above formula 1, the total parking distance L can be obtained. Drv (T). Alternatively, the vehicle parking distance L corresponding to the multiple parking times in the first mapping relationship may be calculated. Drv (t) Add up to get the total distance L of the vehicle parked Drv (T).

[0118] The starting position of the vehicle parking training is the target position P0, and the ending position of the vehicle parking training is the stop position P1. P0 and P1 here are only used for description. In the embodiment of the present application, there is no need to consider the positioning of the vehicle position through relevant sensors. Therefore, the use of relevant hardware can be reduced during the vehicle parking training process, thereby reducing hardware costs.

[0119] Step 104: Obtain a second mapping relationship between the vehicle parking distance and the vehicle steering angle based on the first mapping relationship and the vehicle steering angle corresponding to a plurality of parking-out times;

[0120] Specifically, park the vehicle out of the distance L Drv (t) The vehicle's steering angle S A (t) is stored in the vehicle's memory. Thus, L is established in the vehicle's memory. Drv (t) and S A The parking mapping relationship of (t), that is, the second mapping relationship mentioned above, is obtained as follows: S A (t x )=f(L Drv (t x )) (Formula 2)

[0121] Here, t in Formula 2 x Represents the distance L of the vehicle during parking training Drv (t) is a specific time, that is, the vehicle parking distance L at a specific time can be obtained according to the above formula 2 Drv (t x) corresponds to the vehicle steering angle S A (t x ).

[0122] Step 105: In response to triggering the automatic parking function of the vehicle, determining a target vehicle steering angle of the vehicle according to the second mapping relationship;

[0123] The driver can trigger the vehicle's automatic parking function by pressing a button on an external hardware device. At this time, the vehicle system will actively shift the vehicle into reverse gear R and maintain the vehicle at the preset parking speed V during the automatic parking process by controlling the vehicle's accelerator and brake pedals. set To ensure the safety of the vehicle during automatic parking, the preset vehicle parking speed V set It should be noted that the preset vehicle parking speed is not limited in this embodiment of the present application.

[0124] The real-time vehicle parking speed V that changes with time during the vehicle automatic parking process x1 (t1) Integrate based on time to obtain the vehicle's automatic parking distance L Auto (t1), the specific formula is as follows:

[0125] Here, t1 in Formula 3 represents the multiple parking times during the vehicle's automatic parking process. At this time, t1 and t x It can mean that the multiple parking times during the automatic parking process represent the parking distance L of the vehicle during the parking training process. Drv (t) multiple specific time points.

[0126] At this time, the vehicle needs to be parked out of the total distance L Drv (T) minus the automatic parking distance L Auto (t1) Get the target vehicle's parking distance L Drv (T)-L Auto (t1), based on the second mapping relationship established in the vehicle's memory, that is, Formula 2, the following formula can be obtained: S A (t1) = f(L Drv (T)-L Auto (t1)) (Formula 4)

[0127] According to the above formula 4, the target vehicle steering angle S corresponding to multiple parking times during the vehicle automatic parking process can be obtained: A (t x ).

[0128] Step 106 : In response to controlling the vehicle to automatically park from the stopped position to the target position, controlling the steering wheel of the vehicle using the corresponding target vehicle steering angles according to a plurality of parking times.

[0129] When the driver triggers the automatic parking function of the vehicle, the vehicle system will control the vehicle to automatically park from the stop position P1 to the target position P0 according to the data recorded in the above process. At this time, the vehicle system will adjust the target vehicle steering angle S A (t x ) inputs the vehicle's steering wheel, thereby achieving control of the vehicle's steering wheel using corresponding target vehicle steering angles at multiple parking times.

[0130] When the vehicle's automatic parking distance L Auto (t1) and the total distance L of the vehicle parked Drv When the (T) values ​​are equal, the vehicle system will determine that the vehicle has completed automatic parking. At this time, the vehicle system will end the automatic parking function and complete the parking logic. The vehicle system will shift the vehicle into P gear, straighten the steering wheel, and turn off the power to pull the electronic parking brake.

[0131] In an embodiment of the present application, when a driver triggers the memory parking function of a vehicle, parking data of the vehicle when the vehicle is parked from a target position to a stopped position is recorded, wherein the parking data includes a plurality of vehicle steering angles corresponding to parking times, a total parking time of the vehicle, and a parking speed of the vehicle. The parking speed is integrated over time to obtain a first mapping relationship between the parking distance of the vehicle and time. Subsequently, a total parking distance of the vehicle is obtained based on the total parking time and the first mapping relationship. The total parking distance includes the parking distance. A second mapping relationship between the parking distance of the vehicle and the vehicle steering angle is obtained based on the first mapping relationship and the vehicle steering angles corresponding to the plurality of parking times. This facilitates the automatic parking function of the vehicle when the driver triggers the automatic parking function. The second mapping relationship determines the target vehicle steering angle of the vehicle. When controlling the vehicle to automatically park from a stopping position to a target position, the corresponding target vehicle steering angle is used to control the vehicle's steering wheel according to multiple parking times. This allows the vehicle to be parked in the target position in reverse according to the previously recorded vehicle parking data without human control. This parking method solves the problem of difficulty for all occupants of the vehicle getting off the vehicle in a narrow parking space. It not only makes it convenient for all occupants of the vehicle to get on and off the vehicle at the appropriate position, i.e., the stopping position, but also reduces the relevant hardware for parking training and simplifies the algorithms in the training process, thereby avoiding the high cost and false triggering of the algorithm in parking training, making this parking method more easily and widely used.

[0132] In one embodiment of the present application, the vehicle steering angle is determined according to a steering wheel steering angle.

[0133] Specifically, in the embodiments of the present application, the vehicle steering angle can be determined not only based on the steering wheel steering angle, but also based on any associated component of the vehicle steering system, such as the vehicle's steering column or wheels. Specifically, a steering wheel sensor can be used to monitor the steering wheel steering angle and thereby determine the vehicle steering angle; a steering column sensor can be used to monitor the steering column steering angle and thereby determine the vehicle steering angle; and a wheel angle sensor installed on a wheel can be used to monitor the wheel steering angle and thereby determine the vehicle steering angle. It should be noted that the embodiments of the present application do not limit the method for determining the vehicle steering speed.

[0134] In one embodiment of the present application, step 105 of determining a target vehicle steering angle of the vehicle according to the second mapping relationship in response to triggering the automatic parking function of the vehicle includes:

[0135] determining a vehicle parking distance corresponding to a plurality of parking times of the vehicle;

[0136] According to the vehicle parking distances corresponding to the plurality of parking times and the second mapping relationship, target vehicle steering angles corresponding to the plurality of parking times are determined.

[0137] Specifically, during the automatic parking process, the corresponding parking distances for the vehicle at multiple parking times need to be determined. Subsequently, based on the corresponding parking distances at the multiple parking times, a second mapping relationship, which includes distance-to-steering angle correspondences, is used to determine the target steering angles corresponding to each of the multiple parking times. By using the corresponding parking distances and the second mapping relationship, the target steering angles for each of the multiple parking times can be determined. This eliminates the need for complex algorithms or hardware-assisted adjustments to the steering angle, enabling precise automatic parking in various situations. This avoids high hardware costs during the automatic parking process, improves the accuracy and reliability of the automatic parking function, reduces the likelihood of false triggering of the algorithm, improves the efficiency of automatic parking, and enhances the performance of the parking system.

[0138] In one embodiment of the present application, the vehicle further includes a plurality of sensors and a memory. In step 101, recording the vehicle parking data when the vehicle is parked from the target position to the stop position includes:

[0139] periodically collecting, by means of the plurality of sensors, vehicle parking data when the vehicle is parked from a target position to a stop position;

[0140] The vehicle parking data is recorded in the memory.

[0141] Specifically, in an embodiment of the present application, the multiple sensors may include: wheel speed sensors, steering wheel sensors, steering column sensors, wheel angle sensors, gear sensors and other types of sensors. Through these sensors, vehicle parking data such as vehicle parking speed, vehicle steering angle, vehicle gear data corresponding to multiple parking times can be collected.

[0142] A vehicle may include multiple memories, such as NVM (Non-Volatile Memory), RAM (Random Access Memory), and ROM (Read-Only Memory). In the present embodiment, the vehicle exit training data is recorded in the NVM rather than in the RAM or ROM. After the vehicle's automatic parking function ends, the vehicle needs to be powered off. After the vehicle is powered off, the data in the NVM can be saved. The next time the vehicle is powered on, i.e., when the automatic parking function is triggered, the relevant data stored in the NVM during the vehicle exit training process can be used. If the data is stored in RAM, the data in the RAM will be lost when the vehicle is powered off, resulting in the inability to retrieve the relevant data during the vehicle exit training process when the automatic parking function is triggered. If the data is stored in ROM, the data recorded during the first vehicle exit training process cannot be deleted when the vehicle's memory parking function is subsequently triggered again. This can lead to the problem of insufficient memory space when the relevant data required to be recorded when the memory parking function is triggered multiple times cannot be recorded. At the same time, considering that the vehicle's NvM storage space is limited, when the vehicle speed is 0, the vehicle's parking data is invalid and will not be recorded in the NvM.

[0143] In one embodiment of the present application, the vehicle includes an accelerator pedal and a brake pedal. Step 106 , in response to controlling the vehicle to automatically park from the stopped position to the target position, controlling the steering wheel of the vehicle using the corresponding target vehicle steering angles according to a plurality of parking times, includes:

[0144] In response to controlling the vehicle to automatically park from the stopped position to the target position, controlling the vehicle to travel at a preset vehicle parking speed, and controlling the steering wheel of the vehicle using the corresponding target vehicle steering angles according to a plurality of parking times;

[0145] The vehicle parking speed corresponds to a plurality of parking times, and changes in the vehicle parking speed corresponding to the plurality of parking times are divided into three stages, the three stages including: an acceleration stage, a constant speed stage, and a deceleration stage;

[0146] The controlling the vehicle to travel according to a preset vehicle parking speed includes:

[0147] During the acceleration phase, the vehicle parking speed of the vehicle is accelerated from zero to a set speed by using the accelerator pedal;

[0148] During the uniform speed stage, controlling the parking speed of the vehicle to maintain at the set speed for uniform speed travel;

[0149] During the deceleration phase, the parking speed of the vehicle is decelerated from the set vehicle speed to zero by using the brake pedal to stop the vehicle.

[0150] To ensure the safety of the vehicle during automatic parking, the vehicle's parking speed can be controlled by the vehicle's accelerator pedal and brake pedal. set Automatic parking is performed, at this time the preset vehicle parking speed V set It should be noted that the preset vehicle parking speed is not limited in this embodiment of the present application.

[0151] Referring to Figure 4 , an example of changes in the vehicle's parking speed during automatic parking in / out is shown, according to an embodiment of the present application. The characteristic physical quantities involved in Figure 4 can be found in Table 1. Specifically, the parking speed during the automatic parking process is controlled by the vehicle's accelerator and brake pedals. The change in the parking speed can be divided into three phases: acceleration, constant speed, and deceleration. The speeds in the acceleration and deceleration phases can be tailored to actual needs, using either linear or nonlinear acceleration and deceleration, and are not unique.

[0152] In one embodiment of the present application, determining the vehicle parking distances corresponding to the plurality of parking times of the vehicle includes:

[0153] periodically collecting the parking speed of the vehicle by the sensor;

[0154] The vehicle parking speed is integrated based on time to obtain a vehicle parking distance of the vehicle; wherein the vehicle parking distance corresponds to the plurality of parking times.

[0155] During the automatic parking process, the wheel speed sensors collect the wheel speeds of the four wheels to calculate the vehicle parking speed. The real-time vehicle parking speed V that changes with time during the automatic parking process is then calculated. x1 (t1) Integrate based on time to obtain the vehicle's automatic parking distance L Auto (t1).

[0156] In the related technologies for obtaining the real-time position of a vehicle, most of them use high-precision positioning devices to collect the real-time position of the vehicle, and the positioning process may also require complex data operations or algorithms such as positioning calculation, coordinate conversion, and error correction. However, in the embodiment of the present application, a relatively simple speed integration algorithm can be used to obtain the vehicle parking distance L corresponding to multiple parking times. Auto (t1), during the training process, not only can the positioning device set to collect the vehicle position be omitted, but also there is no need to perform complex data operations or algorithms, thereby reducing the high hardware cost and preventing the occurrence of algorithm false triggering.

[0157] In one embodiment of the present application, determining the target vehicle steering angles corresponding to the plurality of parking times respectively based on the vehicle parking distances corresponding to the plurality of parking times and the second mapping relationship includes:

[0158] subtracting the vehicle parking distances corresponding to the multiple parking times from the total vehicle parking distance to obtain target vehicle parking distances corresponding to the multiple parking times;

[0159] According to the target vehicle parking-out distances corresponding to the multiple parking-in times, the vehicle steering angles corresponding to the multiple parking-in times are obtained from the second mapping relationship as the target vehicle steering angle.

[0160] Among them, during the process of automatic parking, the vehicle needs to be parked out of the total distance L Drv (T) minus the corresponding parking distance L of the vehicle under multiple parking times Auto (t) The target vehicle parking distance can be obtained, and then the target vehicle steering angle corresponding to each of the multiple parking times is determined in a second mapping relationship including the relationship between distance and vehicle steering angle according to the target vehicle parking distance corresponding to the multiple parking times. Drv (T) and the corresponding vehicle parking distance L under multiple parking times Auto (t), a simple subtraction operation can be used to realize the reverse automatic parking of the vehicle during the parking training process. Without involving other complex algorithms and hardware-assisted adjustment of the vehicle steering angle, the vehicle can perform precise automatic parking operations in different situations, avoiding the high hardware cost of the vehicle automatic parking process, and improving the accuracy and reliability of the vehicle automatic parking function. This helps to reduce the possibility of algorithm false triggering, improve the vehicle's automatic parking efficiency, and enhance the performance of the parking system.

[0161] In one embodiment of the present application, after controlling the vehicle to automatically park from the stopped position to the target position in step 106, and controlling the steering wheel of the vehicle using the corresponding target vehicle steering angles according to a plurality of parking times, the method further includes:

[0162] In response to triggering the automatic parking function of the vehicle, controlling the automatic parking speed of the vehicle by using the accelerator pedal and the brake pedal;

[0163] periodically collecting the automatic parking exit speed of the vehicle through the sensor; wherein the automatic parking exit speed corresponds to a plurality of automatic parking exit times;

[0164] Integrating the automatic parking speed based on time to obtain the automatic parking distances corresponding to the multiple automatic parking times;

[0165] According to the automatic parking distances corresponding to the multiple automatic parking times, obtaining the parking vehicle steering angles corresponding to the multiple automatic parking times from the second mapping relationship;

[0166] In response to controlling the vehicle to automatically park from the target position to the stop position, the steering wheel of the vehicle is controlled using the corresponding parking vehicle steering angles according to the plurality of automatic parking times.

[0167] Specifically, the driver can trigger the automatic parking function of the vehicle by pressing a button on an external hardware device. At this time, the vehicle system will actively shift the vehicle into the forward gear D and maintain the vehicle at a preset parking speed V during the automatic parking process by controlling the accelerator and brake pedals of the vehicle. set To ensure the safety of the vehicle during the automatic parking process, the preset vehicle parking speed V set It should be noted that the preset vehicle parking speed is not limited in this embodiment of the present application.

[0168] The above-mentioned buttons on the external hardware device that can trigger the vehicle's automatic parking function and automatic parking function belong to the same button, and the vehicle system can determine the current working mode based on the driver's input. The working modes include: vehicle parking training mode, vehicle automatic parking mode and vehicle automatic parking mode. In vehicle parking training mode, the driver starts and ends the vehicle parking training mode through the human-computer interaction interface or physical buttons in the vehicle; the vehicle automatic parking mode is immediately followed by the vehicle parking training mode, and it can be determined whether the vehicle is in automatic parking mode by whether the driver has left the vehicle, while receiving the button signal of the external hardware device; the vehicle automatic parking mode is not turned on until the vehicle receives the button signal of the external hardware device after the vehicle is powered on again;

[0169] During the automatic parking process, the wheel speed sensors collect the speeds of the four wheels and calculate the automatic parking speed V x2 (t2), and then the real-time automatic parking speed V of the vehicle changing with time during the automatic parking process x2 (t2) Integrate based on time to obtain the vehicle's automatic parking distance L Auto1 (t2). Wherein, the above t2 represents a plurality of automatic unparking times.

[0170] In the related technologies for obtaining the real-time position of a vehicle, most of them use high-precision positioning devices to collect the real-time position of the vehicle, and the positioning process may also require complex data operations or algorithms such as positioning calculation, coordinate conversion, and error correction. However, in the embodiment of the present application, a relatively simple speed integration algorithm can be used to obtain the automatic parking distance L corresponding to multiple parking times. Auto1 (t2) During the training process, not only can the positioning device used to collect the vehicle position be omitted, but also there is no need to perform complex data operations or algorithms, thereby reducing the high hardware cost and preventing the occurrence of false triggering of the algorithm.

[0171] Based on the automatic parking distances corresponding to the multiple automatic parking times, the corresponding parking steering angles for the multiple automatic parking times are derived from the second mapping relationship including the correspondence between the distances and the vehicle steering angles. This eliminates the need for complex algorithms or hardware-assisted adjustments to the vehicle steering angles, enabling the vehicle to perform precise automatic parking operations in various situations. This avoids the high hardware costs associated with the automatic parking process, improves the accuracy and reliability of the automatic parking function, and helps reduce the possibility of false triggering of the algorithm, improves the efficiency of the automatic parking process, and enhances the performance of the parking system.

[0172] When the driver triggers the vehicle's automatic unparking function, the vehicle system will control the vehicle to automatically unpark from the target position P0 to the parking position P1 based on the data recorded in the above process, so that passengers can easily board the vehicle. At this time, the vehicle system will input the parking vehicle steering angle obtained above into the vehicle's steering wheel, thereby realizing that the corresponding parking vehicle steering angle is used to control the vehicle's steering wheel at multiple automatic unparking times.

[0173] When the vehicle's automatic parking distance L Auto1 (t2) and the total distance L of the vehicle parked Drv When the values ​​of (T) are equal, the vehicle system will determine that the vehicle has completed automatic parking and automatically shift the vehicle into the parking gear P. When the driver opens the door, the vehicle system will end the automatic parking function.

[0174] In one embodiment of the present application, step 106, in response to controlling the vehicle to automatically park from the stopped position to the target position, controlling the steering wheel of the vehicle using the corresponding target vehicle steering angles according to a plurality of parking times, further includes:

[0175] In response to receiving a parking instruction, performing a parking operation of the vehicle according to the parking instruction; or,

[0176] In response to receiving a retraction instruction, the vehicle is controlled to return to the stop position according to the retraction instruction.

[0177] Specifically, in order to prevent dangers arising during the automatic parking process, the driver can use the buttons on the external hardware device to stop the vehicle in an emergency. After the danger is eliminated, the vehicle can continue to automatically park. For dangers or obstacles that cannot be eliminated, the driver can also use the buttons on the external hardware device to withdraw the automatic parking request, and the vehicle will return to its original parking position. The buttons on the external hardware device here are the same buttons on the external hardware device that trigger the automatic parking function and automatic parking function of the vehicle. At this time, the vehicle system will determine whether the current vehicle is in working mode. If it is in working mode, the corresponding operation in the corresponding working mode will be executed according to the instructions. In order to distinguish between parking instructions and withdrawal instructions, the button operation on the external hardware device is used to distinguish them. For example, a short press of the button is a parking instruction, and a long press of the button is a withdrawal instruction. It should be noted that the button operation for distinguishing between parking instructions and withdrawal instructions can be changed according to actual needs and is not limited by the embodiments of this application.

[0178] In actual applications, if the vehicle has an ultrasonic radar sensor, the vehicle system can use it to monitor the vehicle in real time during automated parking and unparking for hazards or obstacles that the driver cannot see, thereby preventing potential impacts caused by the driver not noticing the hazards. The ultrasonic radar sensor is not used in parking and unparking training.

[0179] In one embodiment of the present application, in response to controlling the vehicle to automatically park from the target position to the stop position, controlling the steering wheel of the vehicle using the corresponding parking vehicle steering angles according to the multiple automatic parking times includes:

[0180] In response to receiving the parking instruction, a parking operation of the vehicle is performed according to the parking instruction.

[0181] Specifically, the operation of the vehicle automatic parking process is similar to that of the vehicle automatic parking process, and both can perform corresponding vehicle operations through button operations on an external hardware device.

[0182] In one embodiment of the present application, in response to controlling the vehicle to automatically park from the target position to the stop position, after controlling the steering wheel of the vehicle using the corresponding parking vehicle steering angles according to the multiple automatic parking times, the method further includes:

[0183] In response to triggering the memory parking function again, clearing the memory; or,

[0184] In response to receiving a clear instruction, the memory is cleared according to the clear instruction.

[0185] Specifically, due to the limited storage space in the vehicle's NvM, the data in the NvM needs to be cleared to ensure that relevant data can be effectively stored during the next parking and exit training, thereby improving the efficiency of the vehicle's automatic parking in and out. In the embodiment of the present application, after the vehicle completes automatic parking and the driver enters the vehicle and confirms completion via the vehicle's human-machine interface or physical button, that is, when the vehicle receives the clear command, the data in the NvM can be cleared. Alternatively, after the next memory parking function is triggered, the relevant data recorded in the NvM during the previous parking and exit training will be cleared.

[0186] 5 , a schematic diagram of the structure of a parking system according to an embodiment of the present application is shown, involving a vehicle, and may include the following functional stations:

[0187] a memory parking function triggering station 501 configured to record, in response to triggering the memory parking function of the vehicle, vehicle exit data when the vehicle is parked from the target position to the parked position; wherein the vehicle exit data includes a vehicle steering angle corresponding to a plurality of exit times, a total exit time, and a vehicle exit speed;

[0188] A first mapping station 502 is configured to integrate the vehicle's parking speed based on time to obtain a first mapping relationship between the vehicle's parking distance and time;

[0189] The vehicle parking total distance station 503 is configured to obtain the vehicle parking total distance according to the vehicle parking total time and the first mapping relationship, where the vehicle parking total distance includes the vehicle parking distance;

[0190] The second mapping station 504 is configured to obtain a second mapping relationship between the vehicle parking distance and the vehicle steering angle according to the first mapping relationship and the vehicle steering angle corresponding to the plurality of parking-out times;

[0191] a target vehicle steering angle determination station 505, configured to determine a target vehicle steering angle of the vehicle according to the second mapping relationship in response to triggering the automatic parking function of the vehicle;

[0192] The vehicle automatic parking control station 506 is configured to control the vehicle to automatically park from the stop position to the target position, and control the steering wheel of the vehicle using the corresponding target vehicle steering angle according to multiple parking times.

[0193] In one embodiment of the present application, the vehicle steering angle is determined according to a steering wheel steering angle.

[0194] In one embodiment of the present application, the target vehicle steering angle determination station 505 may include the following sections:

[0195] a vehicle parking distance determination section configured to determine the vehicle parking distance corresponding to a plurality of parking times of the vehicle;

[0196] The target vehicle steering angle determination section is configured to determine the target vehicle steering angles corresponding to the plurality of parking times respectively according to the vehicle parking distances corresponding to the plurality of parking times and a second mapping relationship.

[0197] In one embodiment of the present application, the vehicle further includes a plurality of sensors and a memory, and the memory parking function trigger station 501 may include the following sections:

[0198] a vehicle parking data collection section, configured to periodically collect vehicle parking data when the vehicle is parked from the target position to the stop position through the plurality of sensors;

[0199] The vehicle parking data recording section is configured to record the vehicle parking data in the memory.

[0200] In one embodiment of the present application, the vehicle includes an accelerator pedal and a brake pedal, and the vehicle automatic parking control station 506 may include the following sections:

[0201] a vehicle automatic parking control section, configured to control the vehicle to automatically park at the target position from the stopped position, control the vehicle to travel at a preset vehicle parking speed, and control the steering wheel of the vehicle using the corresponding target vehicle steering angle according to a plurality of parking times;

[0202] The vehicle parking speed corresponds to a plurality of parking times, and changes in the vehicle parking speed corresponding to the plurality of parking times are divided into three stages, the three stages including: an acceleration stage, a constant speed stage, and a deceleration stage;

[0203] The vehicle automatic parking control section includes:

[0204] an acceleration element, configured to accelerate the parking speed of the vehicle from zero to a set vehicle speed by using the accelerator pedal during the acceleration phase;

[0205] A constant speed element is configured to control the parking speed of the vehicle to maintain at the set speed for constant speed travel during the constant speed stage;

[0206] The deceleration element is configured to decelerate the parking speed of the vehicle from the set vehicle speed to zero and stop the vehicle by using the brake pedal during the deceleration stage.

[0207] In one embodiment of the present application, the vehicle parking distance determination segment may include the following elements:

[0208] a vehicle parking speed collecting section, configured to periodically collect the vehicle parking speed of the vehicle through the sensor;

[0209] The vehicle parking distance segment is configured to integrate the vehicle parking speed based on time to obtain the vehicle parking distance of the vehicle; wherein the vehicle parking distance corresponds to the plurality of parking times.

[0210] In one embodiment of the present application, the target vehicle steering angle determination section may include the following elements:

[0211] a target vehicle parking-out distance component configured to subtract the vehicle parking-in distances corresponding to the plurality of parking-in times from the total vehicle parking-out distance to obtain target vehicle parking-out distances corresponding to the plurality of parking-in times;

[0212] The target vehicle steering angle component is configured to obtain the vehicle steering angles corresponding to the multiple parking times as the target vehicle steering angles from the second mapping relationship according to the target vehicle parking distances corresponding to the multiple parking times.

[0213] In one embodiment of the present application, after the vehicle automatically parks at the control station 506, the apparatus may further include the following functional stations:

[0214] an automatic parking exit speed control station, configured to control the automatic parking exit speed of the vehicle via the accelerator pedal and the brake pedal in response to triggering the automatic parking exit function of the vehicle;

[0215] an automatic parking exit speed collection station, configured to periodically collect the automatic parking exit speed of the vehicle through the sensor; wherein the automatic parking exit speed corresponds to a plurality of automatic parking exit times;

[0216] an automatic parking distance station configured to integrate the automatic parking speed based on time to obtain the automatic parking distances corresponding to the plurality of automatic parking times;

[0217] a parking vehicle steering angle station configured to obtain, from the second mapping relationship, the parking vehicle steering angles corresponding to the plurality of automatic parking times, based on the automatic parking distances corresponding to the plurality of automatic parking times;

[0218] The vehicle automatic parking control station is configured to control the vehicle to automatically park from the target position to the stop position in response to controlling the vehicle to automatically park from the target position to the stop position, and to control the steering wheel of the vehicle using the corresponding parking vehicle steering angle according to the multiple automatic parking times.

[0219] In one embodiment of the present application, the vehicle automatic parking control station 506 may further include the following sections:

[0220] The vehicle automatically parks in the parking section, and is configured to respond to receiving a parking instruction and then execute a parking operation of the vehicle according to the parking instruction; or

[0221] The vehicle automatically parks in the retraction section, and is configured to control the vehicle to return to the parked position according to the retraction instruction in response to receiving the retraction instruction.

[0222] In one embodiment of the present application, the vehicle automatic parking control station may include the following sections:

[0223] The vehicle automatically parks out of the parking section, and is configured to execute the parking operation of the vehicle according to the parking instruction in response to receiving the parking instruction.

[0224] In one embodiment of the present application, after the vehicle automatically parks out of the control station, the device may further include the following modules:

[0225] The memory clearing module clears the memory in response to triggering the memory parking function again; or, in response to receiving a clearing instruction, clears the memory according to the clearing instruction.

[0226] In an embodiment of the present application, the parking device provided by the embodiment of the present application records vehicle exit data when the vehicle is parked from a target position to a stopped position by a driver triggering a memory parking function of the vehicle. The vehicle exit data includes a vehicle steering angle corresponding to a plurality of exit times, a total vehicle exit time, and a vehicle exit speed. The vehicle exit speed is integrated over time to obtain a first mapping relationship between the vehicle exit distance and time. Subsequently, a total vehicle exit distance is obtained based on the total vehicle exit time and the first mapping relationship. The total vehicle exit distance includes the vehicle exit distance. A second mapping relationship between the vehicle exit distance and the vehicle steering angle is obtained based on the first mapping relationship and the vehicle steering angle corresponding to the plurality of exit times, thereby facilitating the driver's triggering of automatic parking of the vehicle. When the vehicle automatically parks from a stopped position to the target position, the target steering angle of the vehicle is determined by a second mapping relationship. When the vehicle is controlled to automatically park from a stopped position to a target position, the steering wheel of the vehicle is controlled by the corresponding target steering angle according to multiple parking times. This allows the vehicle to be parked in the target position in reverse according to the previously recorded parking exit data without human control. This parking method solves the problem of difficulty for all occupants of the vehicle to get off the vehicle in a narrow parking space. It not only makes it convenient for all occupants of the vehicle to get on and off the vehicle at the appropriate position, i.e., the stopped position, but also reduces the hardware related to parking training and simplifies the algorithms in the training process, thereby avoiding the high cost of parking training and the occurrence of algorithm false triggering, making this parking method more likely to be widely used.

[0227] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0228] An embodiment of the present application also provides a vehicle, which may include a processor, a memory, and computer instructions stored in the memory and capable of running on the processor. When the computer instructions are executed by the processor, the above parking method is implemented.

[0229] An embodiment of the present application further provides a computer-readable storage medium, on which computer instructions are stored. When the computer instructions are executed by a processor, the above parking method is implemented.

[0230] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0231] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, devices, vehicles, or computer program products. Therefore, the embodiments of the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the embodiments of the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0232] The present application embodiment is described with reference to the flow chart and / or block diagram of the method, terminal device (system), and computer program product according to the embodiment of the present application. It should be understood that each process and / or box in the flow chart and / or block diagram and the combination of the process and / or box in the flow chart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device produce a device for realizing the function specified in one process or multiple processes and / or one box or multiple boxes of the flow chart.

[0233] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0234] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce computer-implemented processing, so that the instructions executed on the computer or other programmable terminal device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0235] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0236] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0237] The above provides a detailed introduction to a parking method, a parking device, a corresponding vehicle, and a corresponding computer-readable storage medium. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only intended to help understand the method and core concept of the present application. At the same time, for those skilled in the art, based on the concept of the present application, there may be changes in the specific implementation methods and application scope. In summary, the contents of this specification should not be understood as limiting the present application.

Claims

1. A parking method, related to a vehicle, the method comprising: In response to triggering the memory parking function of the vehicle, recording vehicle parking-out data when the vehicle parks out from a target position to a stop position; wherein, the vehicle parking-out data includes vehicle steering angles corresponding to multiple parking-out times, the total vehicle parking-out time, and the vehicle parking-out speed; Integrating the vehicle parking-out speed over time to obtain a first mapping relationship between the vehicle parking-out distance and time of the vehicle; Obtaining the total vehicle parking-out distance according to the total vehicle parking-out time and the first mapping relationship, the total vehicle parking-out distance including the vehicle parking-out distance; Obtaining a second mapping relationship between the vehicle parking-out distance and the vehicle steering angle according to the first mapping relationship and the vehicle steering angles corresponding to multiple parking-out times; In response to triggering the automatic parking-in function of the vehicle, determining the target vehicle steering angle of the vehicle according to the second mapping relationship; and In response to controlling the vehicle to automatically park in from the stop position to the target position, controlling the steering wheel of the vehicle by using the corresponding target vehicle steering angle respectively according to multiple parking-in times.

2. The method according to claim 1, wherein The vehicle steering angle is determined according to the steering wheel steering angle.

3. The method according to claim 1 or 2, wherein, The step of, in response to triggering the automatic parking-in function of the vehicle, determining the target vehicle steering angle of the vehicle according to the second mapping relationship includes: Determining the vehicle parking-in distances corresponding to multiple parking-in times of the vehicle; and Determining the target vehicle steering angles corresponding to multiple parking-in times respectively according to the vehicle parking-in distances corresponding to multiple parking-in times and the second mapping relationship.

4. The method according to claim 3, wherein, The vehicle further includes multiple sensors and a memory, and the step of recording vehicle parking-out data when the vehicle parks out from a target position to a stop position includes: Periodically collecting vehicle parking-out data when the vehicle parks out from a target position to a stop position through the multiple sensors; Recording the vehicle parking-out data in the memory.

5. The method according to claim 4, wherein The vehicle includes an accelerator pedal and a brake pedal, and the step of, in response to controlling the vehicle to automatically park in from the stop position to the target position, controlling the steering wheel of the vehicle by using the corresponding target vehicle steering angle respectively according to multiple parking-in times includes: In response to controlling the vehicle to automatically park in from the stop position to the target position, controlling the vehicle to travel at a preset vehicle parking-in speed, and controlling the steering wheel of the vehicle by using the corresponding target vehicle steering angle respectively according to multiple parking-in times; wherein, the vehicle parking-in speed corresponds to multiple parking-in times, and the change of the vehicle parking-in speed corresponding to multiple parking-in times is divided into three stages, and the three stages include: an acceleration stage, a constant speed stage, and a deceleration stage; The step of controlling the vehicle to travel at a preset vehicle parking-in speed includes: In the acceleration stage, accelerating the vehicle parking-in speed of the vehicle from zero to a set vehicle speed through the accelerator pedal for accelerating travel; In the constant speed stage, controlling the vehicle parking-in speed of the vehicle to remain at the set vehicle speed for constant speed travel; and In the deceleration stage, the vehicle parking speed of the vehicle is decelerated from the set vehicle speed to zero by the brake pedal, and the vehicle stops driving.

6. The method according to claim 5, wherein, The determining the vehicle parking distances corresponding to multiple parking times of the vehicle includes: periodically collecting the vehicle parking speed of the vehicle by the sensor; and integrating the vehicle parking speed with respect to time to obtain the vehicle parking distance of the vehicle; wherein, the vehicle parking distance corresponds to the multiple parking times.

7. The method according to claim 3, wherein The determining the target vehicle steering angles corresponding to the multiple parking times according to the vehicle parking distances corresponding to the multiple parking times and the second mapping relationship includes: subtracting the vehicle parking distances corresponding to the multiple parking times from the total vehicle parking-out distance respectively to obtain the target vehicle parking-out distances of the vehicle corresponding to the multiple parking times; and obtaining the vehicle steering angles corresponding to the multiple parking times from the second mapping relationship according to the target vehicle parking-out distances corresponding to the multiple parking times as the target vehicle steering angles.

8. The method according to claim 5, after controlling the vehicle to automatically park from the stop position to the target position according to the corresponding target vehicle steering angles respectively for multiple parking times, the method further includes: responding to triggering the automatic parking-out function of the vehicle, controlling the automatic parking-out speed of the vehicle by the accelerator pedal and the brake pedal; periodically collecting the automatic parking-out speed of the vehicle by the sensor; wherein, the automatic parking-out speed corresponds to multiple automatic parking-out times; integrating the automatic parking-out speed with respect to time to obtain the automatic parking-out distances corresponding to the multiple automatic parking-out times; obtaining the parking-out vehicle steering angles corresponding to the multiple automatic parking-out times from the second mapping relationship according to the automatic parking-out distances corresponding to the multiple automatic parking-out times; and responding to controlling the vehicle to automatically park out from the target position to the stop position, controlling the steering wheel of the vehicle according to the corresponding parking-out vehicle steering angles respectively for the multiple automatic parking-out times.

9. The method according to claim 5, wherein, The controlling the steering wheel of the vehicle according to the corresponding target vehicle steering angles respectively for multiple parking times when responding to controlling the vehicle to automatically park from the stop position to the target position further includes: responding to receiving a parking instruction, performing the parking operation of the vehicle according to the parking instruction; or, responding to receiving a withdrawal instruction, controlling the vehicle to return to the stop position according to the withdrawal instruction.

10. The method according to claim 9, wherein, The controlling the steering wheel of the vehicle according to the corresponding parking-out vehicle steering angles respectively for the multiple automatic parking-out times when responding to controlling the vehicle to automatically park out from the target position to the stop position includes: responding to receiving the parking instruction, performing the parking operation of the vehicle according to the parking instruction.

11. According to the method described in claim 10, after the vehicle is controlled to automatically park out from the target position to the stop position, and the vehicle's steering wheel is controlled according to the corresponding parking-out vehicle steering angles respectively based on the multiple automatic parking-out times, the method further includes: In response to the memory parking function being triggered again, clear the memory; Or, In response to receiving a clear instruction, clear the memory according to the clear instruction.

12. A parking device, related to a vehicle, the device includes: A memory parking function trigger section, configured to record the vehicle parking-out data when the vehicle parks out from the target position to the stop position in response to triggering the memory parking function of the vehicle; wherein, the vehicle parking-out data includes the vehicle steering angles corresponding to multiple parking-out times, the total vehicle parking-out time, and the vehicle parking-out speed; A first mapping relationship station, configured to integrate the vehicle parking-out speed based on time to obtain a first mapping relationship between the vehicle parking-out distance and time of the vehicle; A vehicle total parking-out distance station, configured to obtain the total vehicle parking-out distance according to the total vehicle parking-out time and the first mapping relationship, and the total vehicle parking-out distance includes the vehicle parking-out distance; A second mapping relationship station, configured to obtain a second mapping relationship between the vehicle parking-out distance and the vehicle steering angle according to the first mapping relationship and the vehicle steering angles corresponding to multiple parking-out times; A target vehicle steering angle determination station, configured to determine the target vehicle steering angle of the vehicle according to the second mapping relationship in response to triggering the automatic parking-in function of the vehicle; and A vehicle automatic parking-in control station, configured to control the vehicle's steering wheel according to the corresponding target vehicle steering angles respectively based on multiple parking-in times in response to controlling the vehicle to automatically park in from the stop position to the target position.

13. A vehicle, including a processor, a memory, and computer instructions stored on the memory and capable of running on the processor, the computer instructions, when executed by the processor, implement the parking method according to any one of claims 1 to 11.

14. A computer-readable storage medium, on which computer instructions are stored, the computer instructions, when executed by a processor, implement the parking method according to any one of claims 1 to 11.

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