Automatic parking method and device, vehicle, and storage medium

Abstract

Embodiments of the present application provide an automatic parking method and device, a vehicle, and a storage medium. The method comprises: during traveling of a vehicle, if it is detected that there are available parking spaces in front of the vehicle, displaying a virtual view comprising the available parking spaces; in response to a long-press operation acting on a target parking space in the virtual view, releasing the target parking space, and activating a parking function, wherein the target parking space is a parking space among the available parking spaces; and by means of the parking function, controlling the vehicle to park in the target parking space. During traveling of a target vehicle, in response to a long-press operation on an available parking space in a virtual view of a parking scene, a parking function is activated, thereby implementing automatic parking once the vehicle comes close to the available parking space, unlike the existing solutions of enabling the parking function after the completion of parking; and therefore, the driving experience of a user is improved.

Description

Automatic parking method, device, vehicle and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 8, 2024, with application number 202410030189.2, and entitled “Automatic parking method, device, vehicle and storage medium”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of vehicles, and specifically to an automatic parking method, device, vehicle, and storage medium. Background Art

[0003] In related automatic parking methods, after the vehicle searches for a parking space, the user is generally required to park near the available space and meet the required posture before selecting the parking space to be parked and clicking the Start Parking button to activate the parking function. The above process has many requirements and is complex, and the user's driving experience needs to be improved.

[0004] Summary of the Invention

[0005] In view of the above problems, the present application proposes an automatic parking method, device, vehicle and storage medium to improve the above problems.

[0006] In a first aspect, an embodiment of the present application provides an automatic parking method, the method comprising: during driving of a vehicle, if a parking space is detected in front of the vehicle, displaying a virtual view including the parking space; in response to a long press operation on a target parking space in the virtual view, releasing the target parking space and activating a parking function, wherein the target parking space is one of the parking spaces; and controlling the vehicle to park in the target parking space through the parking function.

[0007] In a second aspect, an embodiment of the present application provides an automatic parking device, comprising: a virtual view display unit, a parking function activation unit, and a parking unit. The virtual view display unit is configured to display a virtual view of a parking space available in front of the vehicle when the vehicle detects the presence of the available parking space; the parking function activation unit is configured to respond to a long press operation on a target parking space in the virtual view, release the target parking space, and activate the parking function, wherein the target parking space is one of the available parking spaces; and the parking unit is configured to control the vehicle to park in the target parking space using the parking function.

[0008] In a third aspect, an embodiment of the present application provides a vehicle comprising one or more processors and a memory; one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the above-mentioned method.

[0009] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which program code is stored, wherein the above method is executed when the program code is run.

[0010] The present invention provides an automatic parking method, apparatus, vehicle, and storage medium. This method activates a parking function in response to a long press on an available parking space in a virtual view of a parking scene while the target vehicle is in motion. This allows the vehicle to automatically park when it approaches the available parking space, eliminating the need to first stop the vehicle and then activate the parking function as in existing solutions. This improves the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0012] FIG1 shows a flow chart of an automatic parking method proposed in an embodiment of the present application.

[0013] FIG2 shows a schematic diagram of a virtual view of an automatic parking method proposed in an embodiment of the present application.

[0014] FIG3 shows a flow chart of an automatic parking method proposed in an embodiment of the present application.

[0015] FIG4 shows an application scenario diagram of an automatic parking method proposed in an embodiment of the present application.

[0016] FIG5 shows a flow chart of an automatic parking method proposed in an embodiment of the present application.

[0017] FIG6 shows a structural block diagram of an automatic parking method proposed in yet another embodiment of the present application.

[0018] FIG7 shows a structural block diagram of a vehicle used to execute the automatic parking method according to an embodiment of the present application in real time.

[0019] FIG8 shows a storage unit in real time of the present application for storing or carrying program codes for implementing the automatic parking method according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0021] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, and may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] In the embodiments of the present application, the inventors propose an automatic parking method, device, vehicle, and storage medium. The method includes: during the driving process of the vehicle, if it is detected that there is a parking space in front of the vehicle, a virtual view including the parking space is displayed; in response to a long press operation on the target parking space in the virtual view, the target parking space is released and a parking function is activated, wherein the target parking space is one of the parking spaces; and the vehicle is controlled to park in the target parking space through the parking function. During the driving process of the target vehicle, by activating the parking function in response to a long press operation on the parking space in the virtual view of the parking scene, the vehicle can automatically park when it approaches the parking space, without the need to stop the vehicle first and then activate the parking function as in the existing solution, thereby improving the user's driving experience.

[0023] Referring to FIG. 1 , an embodiment of the present application provides an automatic parking method, the method comprising:

[0024] Step S110: During the driving process of the vehicle, if it is detected that there is a parking space in front of the vehicle, a virtual view including the parking space is displayed.

[0025] In the embodiment of the present application, the virtual view is a view showing a virtualized vehicle and parking space on a display screen, and an available parking space is a parking space that has no vehicles parked in it. While the vehicle is driving, the vehicle's side-view cameras check in real time whether there are any vehicles parked in the parking spaces in the lane where the vehicle is located. If a parking space is detected in the lane without a parked vehicle, it is determined that a parking space is available. The parking space information corresponding to the available parking space captured by the side-view cameras is sent to the human-computer interaction subsystem, which then displays a virtual view of the available parking space on the display screen. The parking space information includes the shape and size of the parking space, the distance between the parking space and the vehicle, and the position of the parking space relative to the vehicle.

[0026] As a way, for parking intention, a "park" button can be set. When the user presses the "park" button, it is determined that the user has the intention to park; or whether the user has the intention to park can be determined based on the voice information sent by the user. For example, if the user says "find a parking space to park", it is determined that the user has the intention to park. No specific limitation is made here.

[0027] Step S120: In response to a long press operation on a target parking space in the virtual view, the target parking space is released and a parking function is activated, wherein the target parking space is one of the available parking spaces.

[0028] In this embodiment of the present application, when available parking spaces are displayed on a virtual view, if a user wishes to park in one of the available spaces, the user selects the desired parking space as the target space. The user performs a long press on the target space in the virtual view to complete the selection. In response to the long press on the target space in the virtual view, the vehicle releases the target space, allowing the vehicle to park in the target space and activating the parking function.

[0029] As a method, when the user performs a long press operation, a progress bar will appear on the virtual display interface to prompt the long press process. When the progress bar reaches the end, it is determined that the long press operation is completed, that is, the selection of the target vehicle is completed. Generally, the length of the progress bar during the long press operation is set to 3 seconds. Of course, the length of the progress bar can also be set by the user himself, and no specific limitation is made here.

[0030] For example, in steps S110-S120, as shown in Figure 2, when a virtual view showing available parking spaces is displayed, a text prompt is displayed in the virtual view. The text prompt reads, for example, "Please long-press the parking space frame to select the desired space." When the user touches the frame corresponding to an available parking space in the virtual view, a progress bar appears below the virtual view. When the progress bar reaches the end, the long-press operation is completed, the target parking space is released, and the parking function is activated. Of course, the completion of the long-press operation is not limited to the progress bar. When an available parking space is selected, the release of the target parking space in response to the user's long-press operation can also be indicated by a flashing border or a color change, activating the automatic parking function with the selected parking space as the parking target. Simultaneously, a 360-degree panoramic view of the vehicle is displayed on the display interface to assist the user in parking.

[0031] At the same time, it should be noted that the long press operation in this embodiment is a relative description, which means that after the user touches the corresponding area, he needs to wait for the activation prompt to appear in the corresponding area (such as the progress bar is full, or the parking space frame flashes, or changes color, etc.), indicating that the parking space is selected and the automatic parking function is activated. The user can end the touch / press operation, so the actual long press time may also be set very short.

[0032] Step S130: Controlling the vehicle to park in the target parking space through the parking function.

[0033] In the embodiment of the present application, after the target parking space is determined, the parking path for the vehicle to park in the target parking space is determined through the parking function, and the vehicle is controlled to travel along the parking path until it parks in the target parking space.

[0034] An embodiment of the present application provides an automatic parking method. First, during the driving process of a vehicle, if a parking space is detected in front of the vehicle, a virtual view including the parking space is displayed. Then, in response to a long press operation on a target parking space in the virtual view, the target parking space is released and the parking function is activated. The target parking space is one of the parking spaces. The parking function is then used to control the vehicle to park in the target parking space. Through the above method, during the driving process of the target vehicle, the parking function is activated in response to a long press operation on the parking space in the virtual view of the parking scene, so that the vehicle can automatically park when it approaches the parking space. There is no need to stop the vehicle first and then activate the parking function as in existing solutions, thereby improving the user's driving experience.

[0035] Referring to FIG3 , an embodiment of the present application provides an automatic parking method, the method comprising:

[0036] Step S210: During the driving process of the vehicle, first parking space information on both sides of the target lane is obtained through the side front-view camera, and first surrounding environment information of the vehicle is obtained through the laser radar, wherein the target lane is the lane where the vehicle is located.

[0037] In an embodiment of the present application, while the vehicle is traveling, first parking space information corresponding to parking spaces within the detection range of the side front view camera is obtained, and first surrounding environment information corresponding to the vehicle is obtained based on the detection range of the laser radar. The first parking space information is the parking space information of the parking spaces within the detection range of the side front view camera; and the first surrounding environment information is the environmental information within the detection range of the laser radar, including obstacles in the target lane, the width of the target lane, and the distance between two adjacent vehicles parked on either side of the target lane. Limited by the performance of the current algorithm, the detection range of the side front view camera is approximately 10 meters, and the detection range of the laser radar is approximately 20 meters.

[0038] Step S210 may be as shown in FIG4 . When the vehicle is traveling in a lane, the detection ranges of the side front view camera are A1 and A2, and the detection range of the laser radar is B1. The side front view camera obtains surrounding environment information corresponding to A1 and A2, and the first parking space information is determined from the surrounding environment information corresponding to A1 and the surrounding environment information corresponding to A2, respectively. The laser radar obtains the first surrounding environment information corresponding to B1.

[0039] Step S220: If it is determined based on the first parking space information and the first surrounding environment information that there is a parking space in front of the vehicle, a virtual view including the parking space is displayed.

[0040] In the embodiment of the present application, the types of parking spaces include line parking spaces and space parking spaces. The parking spaces corresponding to the line parking spaces are parkable line parking spaces, and the parking spaces corresponding to the space parking spaces are parkable space parking spaces. For line parking spaces and parkable line spaces, if the side front view camera detects that there are parking lines on both sides of the target lane, the parking space in the target lane is considered to be a line parking space. After the side front view camera obtains the first parking space information, the first parking space information is analyzed to determine whether there are vehicles parked in the line parking spaces on both sides of the target lane. If there are no vehicles parked in the line parking spaces, it is considered to be a parkable line parking space and the parkable line parking space is displayed in the virtual view. For space parking spaces and parkable space spaces, if the side front view camera detects that there are no parking lines on both sides of the target lane, the parking space in the target lane is considered to be a space parking space. The distance between two adjacent vehicles parked on either side of the target lane is determined based on the first surrounding environment information, and whether the distance is greater than the length of the vehicle driven by the user is determined. If it is determined that the distance is greater than the length of the vehicle, the space corresponding to the distance is determined as a parkable space parking space and the parkable space parking space is displayed in the virtual view.

[0041] As a way, the determination of available parking spaces can also be made in combination with the surrounding environment information collected by the side front view camera. However, since the accuracy of determining the distance between two adjacent vehicles by the side front view camera is not as high as the accuracy of determining the distance between two adjacent vehicles by the lidar, the surrounding environment collected by the side front view camera plays a role in assisting the first surrounding environment information collected by the lidar in the determination of available parking spaces.

[0042] Step S230: In response to a long press operation on the target parking space in the virtual view, the target parking space is released, and a longitudinal control handshake request is sent to the drive brake system through the control subsystem, and a lateral control handshake request is sent to the power steering motor.

[0043] In an embodiment of the present application, after a user performs a long press operation on a target parking space in a virtual view, the target parking space is released in response to the long press operation on the target parking space in the virtual view, and it is determined that the vehicle ultimately needs to be parked in the target parking space. At the same time, the control subsystem determines whether the current vehicle supports activation of the parking function based on the ADAS (Advanced Driving Assistance System) available flag issued by the drive brake system, and then issues a longitudinal control handshake request to the drive brake system through the control subsystem, and issues a lateral control handshake request to the power steering motor. Among them, the control subsystem is used to control the driving of the vehicle, and the drive brake system includes a drive motor and an electronically controlled brake system.

[0044] Step S240: Receive a first status bit issued by the drive braking system and a second status bit issued by the power steering motor through the control subsystem, wherein the first status bit is a status bit activated after the drive braking system responds to the longitudinal control handshake request, and the second status bit is a status bit activated after the power steering motor responds to the lateral control handshake request.

[0045] In an embodiment of the present application, when the driving braking system receives a longitudinal control handshake request issued by the control subsystem, it activates a first status bit in response to the longitudinal control handshake request and sends the first status bit to the control subsystem. When the control subsystem receives the first status bit, it can be determined that the driving braking system receives and responds to the longitudinal control handshake request; when the power steering motor receives a lateral control handshake request issued by the control subsystem, it activates a second status bit in response to the lateral control handshake request and sends the second status bit to the control subsystem. When the control subsystem receives the second status bit, it can be determined that the power steering motor receives and responds to the lateral control handshake request.

[0046] Step S250: If it is determined that the control subsystem receives the first status bit and the second status bit, determine that a handshake relationship is established between the assisted driving main node and the associated actuator node, and activate the parking function, wherein the assisted driving main node includes the control subsystem, and the associated actuator node includes the drive braking system and the power steering motor.

[0047] In an embodiment of the present application, when it is determined that the control subsystem receives the first status bit and the second status bit, it can be determined that a handshake relationship is established between the auxiliary driving node and the associated actuator node, and the parking function is activated.

[0048] As a method, when the assisted driving node and the associated actuator node establish a handshake relationship, and after the parking function is activated, the vehicle can output the target torque to the drive motor through the longitudinal control module in the control subsystem, and output the target deceleration and target gear to the electronic control braking system, thereby controlling the vehicle's speed and driving direction, and stabilizing the vehicle's speed within a stable and controllable target speed range during parking. The target speed is limited to within 25km / h based on actual needs; and when the assisted driving node and the associated actuator node establish a handshake relationship, and after the parking function is activated, the vehicle can output the target steering wheel angle to the power steering motor through the lateral control module in the control subsystem, and control the vehicle's steering wheel angle and vehicle heading angle.

[0049] Step S260: If it is determined that the distance between the target parking space and the vehicle is less than the preset distance, obtain second parking space information corresponding to the target parking space collected by the surround-view camera and second surrounding environment information of the vehicle collected by the ultrasonic radar.

[0050] In an embodiment of the present application, a laser radar monitors the distance between the vehicle and the target parking space in real time. When the distance between the center point of the vehicle's rear axle and the far corner of the target parking space is determined to be less than a preset distance, the system acquires surrounding environmental information collected by the surround-view camera, determines second parking space information corresponding to the target parking space from this environmental information, and simultaneously acquires second surrounding information corresponding to the vehicle collected by the ultrasonic radar. The second surrounding information refers to the surrounding information within the ultrasonic radar's detection range, including obstacles in the target lane, the width of the target lane, and the distance between two adjacent vehicles parked on either side of the target lane. Since the ultrasonic radar can capture information about obstacles within a lateral distance of 3.5-5 meters from the vehicle's side, and the surround-view camera's detection range is approximately 5 meters, the preset distance is set to 5 meters in this embodiment. The side-view cameras, laser radar, surround-view cameras, and ultrasonic radar in this embodiment all begin operating when the vehicle is powered on. Information collected by the surround-view camera and ultrasonic radar is only acquired when the distance between the vehicle and the target parking space is determined to be less than the preset distance.

[0051] Of course, the distance between the vehicle and the target parking space can also be sensed by side front-view cameras, but the distance sensed by side front-view cameras is not as accurate as that of lidar. Alternatively, the distance between the vehicle and the target parking space can be determined by combining the distance between the vehicle and the target parking space sensed by the side front-view cameras with the distance between the vehicle and the target parking space detected by lidar.

[0052] Step S270: Based on the second parking space information and the second surrounding environment information, control the vehicle to park in the target parking space through the parking function.

[0053] In an embodiment of the present application, after determining the second parking space information and the second surrounding environment information, a route for parking in the target parking space is planned based on the obstacle information included in the second surrounding environment information and the position information of the target parking space included in the second parking space information, and the vehicle is controlled by the parking function to travel along the route for parking in the target parking space until it parks in the target parking space.

[0054] Among them, the above process can also be completed using side front-view cameras and lidars. However, since the detection accuracy of side front-view cameras and lidars when detecting close-range objects is lower than that of surround-view cameras and ultrasonic radars when detecting close-range objects, this solution does not adopt a solution that only uses side front-view cameras and lidars to complete the above process. Similarly, the above process can also be completed using surround-view cameras and ultrasonic radars. However, since the detection distance of surround-view cameras and ultrasonic radars is relatively short, when available parking spaces are detected by the surround-view cameras and ultrasonic radars, and the user selects the target parking space from the available parking spaces, after completing the above operations, the vehicle is already very close to the target parking space. Considering the vehicle's speed during driving, it is more difficult to complete parking without stopping. When the user slows down and stops, it may have exceeded the target parking space by a certain distance. The detection distance of surround-view cameras and ultrasonic radars is relatively short, and the target parking space may not be detected. In this case, the user needs to reverse until the target parking space is within the detection range of the surround-view cameras and ultrasonic radars. The steps required to complete this method are more cumbersome and the efficiency is low. Therefore, this solution does not adopt this method.

[0055] An embodiment of the present application provides an automatic parking method. Through the above method, during the driving process of the target vehicle, the parking function is activated in response to a long press operation on a parking space in a virtual view of the parking scene, so that the vehicle can automatically park when it approaches the parking space. There is no need to stop the vehicle first and then activate the parking function as in the existing solution, thereby improving the user's driving experience.

[0056] Referring to FIG. 5 , an embodiment of the present application provides an automatic parking method, the method comprising:

[0057] Step S301: During the driving process of the vehicle, first parking space information on both sides of the target lane is obtained through the side front-view camera, and first surrounding environment information of the vehicle is obtained through the laser radar.

[0058] For details of step S301 , please refer to the detailed explanation in the above embodiment, so it will not be described in detail in this embodiment.

[0059] Step S302: If it is determined based on the first parking space information and the first surrounding environment information that there is a parking space in front of the vehicle, a virtual view including the parking space is generated based on the first parking space information.

[0060] In this embodiment of the present application, available parking spaces include linear parking spaces and free parking spaces. If the parking space in the target lane is a linear parking space, the system determines whether a vehicle is parked in the linear parking space within the detection range of the side-view camera based on the collected first parking space information. If a vehicle is parked, the parking space in front of the vehicle is considered a non-parkable linear parking space. If no vehicle is parked, the linear parking space within the detection range is considered a parking available linear parking space. If the parking space in the target lane is a free parking space, the system calculates whether the distance between two adjacent vehicles on either side of the target lane is greater than the vehicle length based on the collected first parking space information and the first surrounding environment information. If the distance is less than or equal to the vehicle length, the free parking space in front of the vehicle is considered a non-parkable free parking space. If the distance is greater than the vehicle length, the free parking space in front of the vehicle is considered a free parking space. After determining that a parking space is available in front of the vehicle, the system determines the shape and size of the available parking space and its position relative to the vehicle based on the first parking space information, generating a virtual view including the available parking space.

[0061] The first parking space information may be used to determine a non-parking space in front of the vehicle, and the non-parking space may be displayed in the virtual view. A vehicle may be rendered on the non-parking space to indicate that the space is a non-parking space.

[0062] Among them, after the virtual view is generated, even if an emergency occurs and the available parking space becomes an unavailable parking space, such as a child playing in the available parking space, the virtual view will not be closed.

[0063] As one approach, when generating a virtual view of a parking space, a driving overhead view is simultaneously generated based on the first parking space information and the first surrounding environment information. In this driving overhead view, with the vehicle as the center, images of obstacles and surrounding vehicles are rendered based on the first surrounding environment information, and displayed on the display interface in the form of an overhead view.

[0064] Step S303: Display the virtual view.

[0065] In an embodiment of the present application, the virtual view is displayed on the display interface, and at the same time, the above-mentioned driving bird's-eye view is displayed.

[0066] Step S304: In response to a long press operation on the target parking space in the virtual view, the target parking space is released, and a longitudinal control handshake request is sent to the drive brake system through the control subsystem, and a lateral control handshake request is sent to the power steering motor.

[0067] Step S305: Receive, through the control subsystem, a first status bit issued by the drive braking system and a second status bit issued by the power steering motor, wherein the first status bit is a status bit activated after the drive braking system responds to the longitudinal control handshake request, and the second status bit is a status bit activated after the power steering motor responds to the lateral control handshake request.

[0068] Step S306: If it is determined that the control subsystem receives the first status bit and the second status bit, determine that a handshake relationship is established between the assisted driving main node and the associated actuator node, and activate the parking function, wherein the assisted driving main node includes the control subsystem, and the associated actuator node includes the drive braking system and the power steering motor.

[0069] Step S307: If it is determined that the distance between the target parking space and the vehicle is less than the preset distance, obtain second parking space information corresponding to the target parking space collected by the surround-view camera and second surrounding environment information of the vehicle collected by the ultrasonic radar.

[0070] For details of steps S304 to S307 , please refer to the detailed explanation in the above embodiment, so they will not be described in detail in this embodiment.

[0071] Step S308: Based on the second parking space information and the second surrounding environment information, update the relative position coordinates of the target parking space and the surrounding obstacle information of the target parking space, where the relative position coordinates of the target parking space are the coordinates of the target parking space relative to the vehicle.

[0072] In an embodiment of the present application, the position of the new target parking space relative to the vehicle is determined based on the position information between the target parking space and the vehicle included in the second parking space information, and the position of the target parking space relative to the vehicle is used as the relative position coordinates of the target vehicle, thereby completing the update of the relative position coordinates of the target parking space; the obstacle information included in the second surrounding environment information is used as the surrounding obstacle information of the target parking space to complete the update of the surrounding obstacle information of the target parking space.

[0073] As a method, when obtaining the second parking space information collected by the surround-view camera and the second surrounding environment information collected by the ultrasonic radar in real time, the distance between the surround-view camera and the target parking space, as well as the distance between the ultrasonic radar and the target parking space, is obtained. The confidence level of the second parking space information is determined based on the distance between the surround-view camera and the target parking space, and the confidence level of the second surrounding environment information is determined based on the distance between the ultrasonic radar and the target parking space. When the confidence level of the second parking space information and the confidence level of the second surrounding environment information are both greater than a confidence threshold, it is determined that the second parking space information and the second surrounding environment information at this time are credible. Based on the second parking space information whose confidence level is greater than the confidence threshold and the second surrounding environment information whose confidence level is greater than the confidence threshold, the relative position coordinates of the target parking space and the surrounding obstacle information of the target parking space are updated.

[0074] Step S309: Based on the updated surrounding obstacle information of the target parking space and the updated relative position coordinates of the target parking space, determine the drivable area corresponding to the vehicle.

[0075] In an embodiment of the present application, based on the updated surrounding obstacle information of the target parking space and the updated relative position coordinates of the target parking space, the obstacle-free area between the vehicle and the target parking space is determined, and the obstacle-free area between the vehicle and the target parking space is used as the corresponding drivable area of ​​the vehicle.

[0076] As a method, since pedestrians may pass by while the vehicle is driving, the vehicle's drivable area is not fixed. The vehicle obtains the second parking space information collected by the surround-view camera and the second surrounding environment information collected by the ultrasonic radar in real time, and updates the relative position coordinates of the target parking space and the surrounding obstacle information of the target parking space in real time based on the second parking space information and the second surrounding environment information, thereby achieving real-time update of the vehicle's drivable area. Of course, in order to reduce computing pressure, the vehicle can also obtain the second parking space information collected by the surround-view camera and the second surrounding environment information collected by the ultrasonic radar at preset time intervals.

[0077] Step S310: Based on the drivable area, control the vehicle to park in the target parking space through the parking function.

[0078] In an embodiment of the present application, after determining the drivable area, the control subsystem is used to control the vehicle to travel within the drivable area through the parking function until it parks in the target parking space.

[0079] The specific process of step S310 is shown in step S3101 and step S3102.

[0080] Step S3101: Process the updated surrounding obstacle information to determine a parking route in the drivable area.

[0081] In the embodiment of the present application, the planning subsystem processes the updated surrounding obstacle information and plans a parking route from the drivable area based on the obstacle distribution around the vehicle. The planning subsystem is a system that plans a parking route in the drivable area.

[0082] Alternatively, the planning subsystem can generate multiple reference parking routes within the drivable area based on the distribution of obstacles around the vehicle. The optimal reference parking route is selected from these routes, taking into account comfort, safety, and time consumption. This optimal reference parking route is then used as the parking route for this solution. If an emergency occurs on this parking route, such as a child playing on it, this route can be abandoned and the optimal reference parking route selected from the remaining reference routes.

[0083] Step S3102: Based on the parking route, control the vehicle to park in the target parking space through the parking function.

[0084] In an embodiment of the present application, after the parking route is determined, the control subsystem controls the vehicle's speed and driving direction through the longitudinal control module, and controls the vehicle's driving heading angle through the lateral control module to ensure that the vehicle travels along the parking route until it is parked in the target parking space.

[0085] As a way, when an emergency occurs while the vehicle is driving on the parking route, the control subsystem controls the vehicle to brake and re-plan a parking route based on the current surrounding obstacle information, and then controls the vehicle to drive on the new parking route until it parks in the target parking space.

[0086] An embodiment of the present application provides an automatic parking method. Through the above method, during the driving process of the target vehicle, the parking function is activated in response to a long press operation on a parking space in a virtual view of the parking scene, so that the vehicle can automatically park when it approaches the parking space. There is no need to stop the vehicle first and then activate the parking function as in the existing solution, thereby improving the user's driving experience.

[0087] Referring to FIG. 6 , an embodiment of the present application provides an automatic parking device 400 , wherein the device 400 includes:

[0088] The virtual view display unit 410 is configured to display a virtual view including a parking space if a parking space is detected in front of the vehicle during the vehicle's driving process.

[0089] As a method, the virtual view display unit 410 is also used to obtain first parking space information on both sides of the target lane through the side front-view camera and first surrounding environment information of the vehicle through the laser radar during the driving process of the vehicle; if it is determined that there is a parking space in front of the vehicle based on the first parking space information and the first surrounding environment information, a virtual view including the parking space is displayed.

[0090] Optionally, the virtual view display unit 410 is further used to generate a virtual view including the parkable parking space based on the first parking space information if it is determined that there is a parkable parking space in front of the vehicle based on the first parking space information and the first surrounding environment information; and display the virtual view.

[0091] The parking function activation unit 420 is configured to respond to a long press operation on a target parking space in the virtual view, release the target parking space, and activate a parking function, wherein the target parking space is one of the available parking spaces.

[0092] As a method, the parking function activation unit 420 is also used to respond to a long press operation on the target parking space in the virtual view, release the target parking space, and send a longitudinal control handshake request to the driving braking system through the control subsystem, and send a lateral control handshake request to the steering power motor; receive a first status bit sent by the driving braking system and a second status bit sent by the steering power motor through the control subsystem, wherein the first status bit is a status bit activated after the driving braking system responds to the longitudinal control handshake request, and the second status bit is a status bit activated after the steering power motor responds to the lateral control handshake request; if it is determined that the control subsystem has received the first status bit and the second status bit, determine that a handshake relationship is established between the auxiliary driving main node and the associated actuator node, and activate the parking function, wherein the auxiliary driving main node includes the control subsystem, and the associated actuator node includes the driving braking system and the steering power motor.

[0093] The parking unit 430 is configured to control the vehicle to park in the target parking space through the parking function.

[0094] As a method, the parking unit 430 is also used to obtain second parking space information corresponding to the target parking space collected by the surround-view camera and second surrounding environment information of the vehicle collected by the ultrasonic radar if it is determined that the distance between the target parking space and the vehicle is less than a preset distance; based on the second parking space information and the second surrounding environment information, the parking function is used to control the vehicle to park in the target parking space.

[0095] Optionally, the parking unit 430 is also used to update the relative position coordinates of the target parking space and the surrounding obstacle information of the target parking space based on the second parking space information and the second surrounding environment information, where the relative position coordinates of the target parking space are the coordinates of the target parking space relative to the vehicle; based on the updated surrounding obstacle information of the target parking space and the updated relative position coordinates of the target parking space, determine the drivable area corresponding to the vehicle; based on the drivable area, control the vehicle to park in the target parking space through the parking function.

[0096] Optionally, the parking unit 430 is further configured to process the updated surrounding obstacle information to determine a parking route in the drivable area; and based on the parking route, control the vehicle to park in the target parking space through the parking function.

[0097] It should be noted that the device embodiment in this application corresponds to the aforementioned method embodiment. The specific principles in the device embodiment can be found in the contents of the aforementioned method embodiment and will not be repeated here.

[0098] A vehicle provided by this application will be described below with reference to FIG7 .

[0099] Referring to FIG. 7 , based on the aforementioned automatic parking method and apparatus, another embodiment of the present application provides another vehicle 500 capable of performing the aforementioned automatic parking method. Vehicle 500 includes one or more (only one shown) processors 502, a memory 504, and a network module 506 coupled to each other. The memory 504 stores a program capable of performing the aforementioned embodiments, and the processor 502 executes the program stored in the memory 504.

[0100] The processor 502 may include one or more processing cores. The processor 502 utilizes various interfaces and circuits to connect various components within the vehicle 500. It executes instructions, programs, code sets, or instruction sets stored in the memory 504 and accesses data stored in the memory 504 to perform various functions and process data on the server 500. Optionally, the processor 502 may be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 502 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem handles wireless communications. It is understood that the modem may not be integrated into the processor 502 and may instead be implemented via a separate communications chip.

[0101] The memory 504 may include random access memory (RAM) or read-only memory (ROM). The memory 504 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 504 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the various method embodiments described below, and the like. The data storage area may also store data created by the vehicle 500 during use (such as a phone book, audio and video data, chat history data, etc.).

[0102] The network module 506 is used to receive and transmit electromagnetic waves, realize the mutual conversion between electromagnetic waves and electrical signals, and thus communicate with a communication network or other devices, such as communicating with an audio playback device. The network module 506 may include various existing circuit components for performing these functions, such as an antenna, a radio frequency transceiver, a digital signal processor, an encryption / decryption chip, a subscriber identity module (SIM) card, a memory, etc. The network module 506 can communicate with various networks such as the Internet, an intranet, a wireless network, or communicate with other devices via a wireless network. The above-mentioned wireless network may include a cellular telephone network, a wireless local area network, or a metropolitan area network. For example, the network module 506 can exchange information with a base station.

[0103] Please refer to Figure 8, which shows a block diagram of a computer-readable storage medium provided in an embodiment of the present application. The computer-readable storage medium 600 stores program code, which can be called by a processor to execute the method described in the above method embodiment.

[0104] The computer-readable storage medium 600 can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium 600 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 600 has storage space for program code 610 for executing any of the method steps described above. These program codes can be read from or written to one or more computer program products. The program code 610 can be compressed, for example, in a suitable form.

[0105] The embodiments of the present application provide an automatic parking method, device, vehicle, and storage medium. The method includes: during the driving process of the vehicle, if it is detected that there is a parking space in front of the vehicle, a virtual view including the parking space is displayed; in response to a long press operation on the target parking space in the virtual view, the target parking space is released and a parking function is activated, wherein the target parking space is one of the parking spaces; and the vehicle is controlled to park in the target parking space through the parking function. During the driving process of the target vehicle, by activating the parking function in response to a long press operation on the parking space in the virtual view of the parking scene, the vehicle can be automatically parked when it approaches the parking space, without the need to stop the vehicle first and then activate the parking function as in the existing solution, thereby improving the user's driving experience.

[0106] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

Claims

1. An automatic parking method, characterized in that, The method includes: During the driving of the vehicle, if a parkable parking space is detected in front of the vehicle, a virtual view including the parkable parking space is displayed; In response to a long - press operation on a target parking space in the virtual view, the target parking space is released and the parking function is activated, where the target parking space is one of the parkable parking spaces; The vehicle is controlled to park in the target parking space through the parking function.

2. The method according to claim 1, wherein The step of "During the driving of the vehicle, if a parkable parking space is detected in front of the vehicle, a virtual view including the parkable parking space is displayed" includes: During the driving of the vehicle, first parking space information on both sides of the target lane is obtained through a side - front view camera, and first surrounding environment information of the vehicle is obtained through a lidar, where the target lane is the lane in which the vehicle is located; If it is determined based on the first parking space information and the first surrounding environment information that a parkable parking space exists in front of the vehicle, a virtual view including the parkable parking space is displayed.

3. The method according to claim 2, characterized in that, The step of "If it is determined based on the first parking space information and the first surrounding environment information that a parkable parking space exists in front of the vehicle, a virtual view including the parkable parking space is displayed" includes: If it is determined based on the first parking space information and the first surrounding environment information that a parkable parking space exists in front of the vehicle, a virtual view including the parkable parking space is generated based on the first parking space information; The virtual view is displayed.

4. The method according to claim 1, wherein The step of "In response to a long - press operation on a target parking space in the virtual view, the target parking space is released and the parking function is activated" includes: In response to a long - press operation on a target parking space in the virtual view, the target parking space is released, and a longitudinal control handshake request is sent to the drive - brake system and a lateral control handshake request is sent to the power - steering motor through a control subsystem; The first status bit sent by the drive - brake system and the second status bit sent by the power - steering motor are received through the control subsystem, where the first status bit is the status bit activated by the drive - brake system in response to the longitudinal control handshake request, and the second status bit is the status bit activated by the power - steering motor in response to the lateral control handshake request; If it is determined that the control subsystem has received the first status bit and the second status bit, it is determined that a handshake relationship is established between the auxiliary driving main node and the associated execution - part node, and the parking function is activated, where the auxiliary driving main node includes the control subsystem, and the associated execution - part node includes the drive - brake system and the power - steering motor.

5. The method according to claim 1, wherein The step of "The vehicle is controlled to park in the target parking space through the parking function" includes: If it is determined that the distance between the target parking space and the vehicle is less than a preset distance, second parking space information corresponding to the target parking space collected by a surround - view camera and second surrounding environment information of the vehicle collected by an ultrasonic radar are obtained; Based on the second parking space information and the second surrounding environment information, the vehicle is controlled to park in the target parking space through the parking function.

6. The method according to claim 5, characterized in that, Based on the second parking space information and the second surrounding environment information, controlling the vehicle to park in the target parking space through the parking function includes: Based on the second parking space information and the second surrounding environment information, updating the relative position coordinates of the target parking space and the surrounding obstacle information of the target parking space, where the relative position coordinates of the target parking space are the coordinates of the target parking space relative to the vehicle; Based on the updated surrounding obstacle information of the target parking space and the updated relative position coordinates of the target parking space, determining the drivable area corresponding to the vehicle; Based on the drivable area, controlling the vehicle to park in the target parking space through the parking function.

7. The method according to claim 6, wherein The controlling the vehicle to park in the target parking space through the parking function based on the drivable area includes: Processing the updated surrounding obstacle information to determine the parking route in the drivable area; Based on the parking route, controlling the vehicle to park in the target parking space through the parking function.

8. An automatic parking device, characterized in that, The device includes: A virtual view display unit, configured to display a virtual view including the parkable parking space during the driving of the vehicle if a parkable parking space is detected in front of the vehicle; A parking function activation unit, configured to respond to a long-press operation on the target parking space in the virtual view, release the target parking space, and activate the parking function, where the target parking space is one of the parkable parking spaces; A parking unit, configured to control the vehicle to park in the target parking space through the parking function.

9. A vehicle, characterized in that, Comprising one or more processors and a memory, one or more programs are stored in the memory and configured to be executed by one or more processors to perform the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores program code, and the program code includes instructions for executing the method according to any one of claims 1-7.

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