Parking method and apparatus, and vehicle

Abstract

A parking method, comprising: receiving a first instruction from a user, wherein the first instruction instructs to park in a target parking space by means of a remote parking assist (RPA) function, and a temporary obstacle is placed in the target parking space; in response to the received first instruction, sending a second instruction to a mobile terminal, and controlling a prompting apparatus to prompt a user to get out and remove the temporary obstacle, wherein the second instruction is used for instructing to park in the target parking space by means of the RPA function; and when it is detected that the user gets out and a third instruction sent by the mobile terminal has been received, controlling a vehicle to park in the target parking space, wherein the third instruction is used for instructing the vehicle to park in the target parking space. Further disclosed are a parking apparatus, a vehicle (100), a mobile terminal, a computer-readable storage medium, a computer program product and a chip. The parking method can be applied to intelligent vehicles or electric vehicles, and facilitates a reduction in cumbersome operations when a user uses a RPA function, thereby facilitating an improvement in the parking experience of the user.

Description

Parking method, device and vehicle

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on February 21, 2024, with application number 202410193467.6 and invention name “Parking method, device and vehicle”, and the Chinese patent application filed with the State Intellectual Property Office of China on August 12, 2024, with application number 202411107046.3 and invention name “Parking method, device and vehicle”, the entire contents of which are incorporated by reference into this application. Technical Field

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

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

[0004] Currently, users can only use the RPA function when the target parking space is vacant. This limits the usage scenarios of the RPA function and affects the user's parking experience. Summary of the Invention

[0005] The present application provides a parking method, device, and vehicle, which help reduce the tedious operations of users when using the RPA function, thereby helping to improve the user's parking experience.

[0006] In a first aspect, a parking method is provided, the method comprising: receiving a first instruction from a user, the first instruction instructing parking in a target parking space through a remote parking assistance (RPA) function, the target parking space having a temporary obstacle placed thereon; in response to receiving the first instruction, sending a second instruction to a mobile terminal and controlling a prompt device to prompt the user to get off the vehicle and remove the temporary obstacle, the second instruction being used to instruct parking in the target parking space through the RPA function; upon detecting that the user gets off the vehicle and receiving a third instruction sent by the mobile terminal, controlling the vehicle to park in the target parking space, the third instruction being used to instruct the vehicle to park in the target parking space.

[0007] If a parking space is currently occupied by a temporary obstacle, the space will not be released (or the space is unreleased). Users cannot select the space, or use the APA or RPA function to park in the space. Users must first exit the vehicle to remove the temporary obstacle, then re-enter the vehicle to activate the automatic parking function. This can result in a poor parking experience.

[0008] Based on the above technical solution, the vehicle can identify parking spaces occupied by temporary obstacles (which are in a released state). Users can then select the parking space occupied by the temporary obstacle as their target parking space and use the RPA function to park there. When the vehicle detects that the user has selected the RPA function, it can prompt the user to get out and remove the temporary obstacle. This eliminates the need for users to get out of the vehicle to remove the temporary obstacle and then get back in to select the RPA function, reducing the tedious steps required when using the RPA function and improving the user's parking experience.

[0009] In some possible implementations, a wireless connection (eg, a Bluetooth connection) may be established between the mobile terminal and the vehicle.

[0010] In some possible implementations, receiving the first instruction from the user includes: receiving an operation of the user clicking on the RPA function on the display screen of the vehicle.

[0011] In some possible implementations, controlling the prompting device to prompt the user to get off the vehicle and remove the temporary obstacle includes: controlling a display screen of the vehicle to display a prompt message, where the prompt message is used to prompt the user to get off the vehicle and remove the temporary obstacle.

[0012] The temporary obstacles can be placed in the parking space or on the parking path of the vehicle to the target parking space. The following description will take the temporary obstacles placed in the parking space as an example.

[0013] In some possible implementations, the mobile terminal may be a mobile phone, a tablet computer, a wearable electronic device with wireless communication capabilities (such as a smart watch), etc.

[0014] In combination with the first aspect, in certain implementations of the first aspect, before receiving the user's first instruction, the method also includes: obtaining information of one or more parking spaces, the one or more parking spaces including the target parking space; when receiving the user's fourth instruction, controlling the prompt device to prompt that a temporary obstacle is placed on the target parking space and only the RPA function is supported for the target parking space, the fourth instruction being an instruction for the user to select the target parking space.

[0015] Based on the above technical solution, the vehicle can identify parking spaces occupied by temporary obstacles (parking spaces occupied by temporary obstacles are in the released state) and prompt the user to only support the RPA function for this parking space. In this way, before the temporary obstacle is removed from the parking space, the user can select the parking space as the target space, eliminating the need for the user to get out of the vehicle to remove the temporary obstacle and then get back in to select the RPA function. This reduces the user's tedious operation when using the RPA function and improves the user's parking experience.

[0016] In some possible implementations, controlling the prompting device to prompt that a temporary obstacle is placed on the target parking space includes: controlling a display screen of the vehicle to display the target parking space.

[0017] In some possible implementations, the one or more parking spaces include vacant parking spaces and parking spaces occupied by temporary obstacles. The method also includes: when obtaining information about one or more parking spaces, controlling the vehicle's display screen to display information about the one or more parking spaces, controls corresponding to the APA function, and controls corresponding to the RPA function; when detecting that the user selects the target parking space through the display screen, controlling the display screen to display that the controls corresponding to the APA function cannot be clicked and the controls corresponding to the RPA function can be clicked.

[0018] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: when the distance between the vehicle and the temporary obstacle is less than or equal to a preset distance, controlling the vehicle to stop parking in the target parking space and sending a fifth instruction to the mobile terminal, wherein the fifth instruction is used to instruct the mobile terminal to prompt the user to remove the temporary obstacle.

[0019] Based on the above technical solution, when a vehicle is automatically parking in a target parking space using the RPA function, if the distance between the vehicle and a temporary obstacle is less than or equal to a preset distance, the vehicle can stop parking in the target parking space and send a fifth instruction to the mobile terminal. This will prompt the user to remove the temporary obstacle, allowing the vehicle to continue parking in the target parking space after the user removes the temporary obstacle.

[0020] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: when it is detected that the user has removed the temporary obstacle within a first preset time period, controlling the vehicle to continue parking in the target parking space.

[0021] Based on the above technical solution, if the user removes the temporary obstacle within the first preset time period, the vehicle can continue to automatically park in the target parking space. In this way, after seeing the prompt on the mobile terminal, the user only needs to remove the temporary obstacle to allow the vehicle to continue to automatically park in the target parking space, which helps to improve the user's parking experience.

[0022] In some possible implementations, the vehicle can be in an RPA automatic recovery state within the first preset time period, that is, as long as the vehicle detects that the temporary obstacle has been removed within the first preset time period, the RPA function can be automatically restored, thereby continuing to control the vehicle to park in the target parking space.

[0023] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: when the user is not detected to have removed the temporary obstacle within the first preset time period, a sixth instruction is sent to the mobile terminal, wherein the sixth instruction indicates that the temporary obstacle has not been removed within the first preset time period.

[0024] In some possible implementations, the method further includes: when it is not detected that the user has removed the temporary obstacle within a first preset time period, controlling the vehicle gear to switch to a parking gear.

[0025] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: upon receiving a seventh instruction sent by the mobile terminal and detecting that the temporary obstacle has been removed, controlling the vehicle to continue parking in the target parking space, the seventh instruction being used to instruct the restoration of the RPA function.

[0026] Based on the above technical solution, when the vehicle receives the seventh instruction sent by the mobile terminal and detects that the temporary obstacle has been removed, the vehicle can restore the RPA function to continue controlling the vehicle to park in the target parking space.

[0027] In some possible implementations, upon receiving the seventh instruction sent by the mobile terminal and detecting that the temporary obstacle has been removed, controlling the vehicle to continue parking in the target parking space includes: within a second preset time period, upon receiving the seventh instruction sent by the mobile terminal and detecting that the temporary obstacle has been removed, controlling the vehicle to continue parking in the target parking space.

[0028] In some possible implementations, the vehicle can be in an RPA passive recovery state within the second preset time period, that is, the vehicle needs to receive the seventh instruction (RPA function recovery instruction) sent by the mobile terminal within the second preset time period and detect that the temporary obstacle has been removed before the RPA function can be restored, thereby continuing to control the vehicle to park in the target parking space.

[0029] In a second aspect, a parking method is provided, the method comprising: receiving a second instruction sent by a vehicle, the second instruction being used to instruct parking into a target parking space through an RPA function, the target parking space being a parking space identified by the vehicle and having a temporary obstacle placed therein; according to the second instruction, controlling a display device to display a first interface, the first interface comprising a first control, the first control being a control for turning on the RPA function; upon obtaining a first input from the user for the first control, sending a third instruction to the vehicle, the third instruction being used to instruct the vehicle to start parking into the target parking space.

[0030] Based on the above technical solution, the mobile terminal can display the remote parking display interface when it obtains the second instruction sent by the vehicle. When the user's instruction to turn on the RPA function is obtained, the vehicle can be instructed to park in the target parking space. In this way, the user can remove the temporary obstacle while turning on the RPA function on the mobile phone, or the user can remove the temporary obstacle after turning on the RPA function on the mobile phone (or the user can remove the temporary obstacle while the vehicle is parking in the target parking space through the RPA function), which helps to improve the user's parking efficiency and thus helps to improve the user's parking experience.

[0031] In some possible implementations, the method further includes: receiving information about the vehicle, temporary obstacles, and parking spaces sent by the vehicle; and displaying the information about the vehicle, temporary obstacles, and parking spaces through the first interface.

[0032] In combination with the second aspect, in certain implementations of the second aspect, the method further includes: when obtaining the user's first input to the first control, controlling the display device to switch from displaying the first interface to displaying the second interface, the second interface being a display interface of the vehicle parked in the target parking space.

[0033] In combination with the second aspect, in certain implementations of the second aspect, the method also includes: receiving a fifth instruction sent by the vehicle, the fifth instruction being used to instruct the mobile terminal to prompt the user to remove the temporary obstacle; and according to the fifth instruction, controlling the display device to switch from displaying the second interface to displaying the third interface, the third interface including a first prompt message, and the first prompt message being used to prompt the user to remove the temporary obstacle.

[0034] Based on the above technical solution, when the fifth instruction sent by the vehicle is received, the mobile terminal can display the first prompt information through the third interface, thereby prompting the user to remove the temporary obstacle so that the vehicle can be parked in the target parking space.

[0035] In some possible implementations, according to the fifth instruction, controlling the display device to switch from displaying the second interface to displaying the third interface includes: according to the fifth instruction, controlling the display device to switch from displaying the second interface to displaying the third interface and controlling the mobile terminal to vibrate.

[0036] In combination with the second aspect, in certain implementations of the second aspect, the method also includes: receiving a sixth instruction sent by the vehicle, the sixth instruction indicating that the temporary obstacle has not been removed within a first preset time period; according to the sixth instruction, controlling the display device to switch from displaying the third interface to displaying the fourth interface, the fourth interface including a second prompt information, and the second prompt information is used to prompt that the RPA function has been suspended.

[0037] Based on the above technical solution, when the vehicle receives the sixth instruction sent by the vehicle, the vehicle can display the second prompt information through the fourth interface, thereby prompting the user that the RPA function has been suspended.

[0038] In some possible implementations, the fourth interface also includes gear information, which indicates that the vehicle is in the parking gear.

[0039] In combination with the second aspect, in certain implementations of the second aspect, the fourth interface also includes a second control, which is a control for restoring the automatic parking function. The method also includes: when obtaining the user's second input for the second control, sending a seventh instruction to the vehicle, and the seventh instruction is used to instruct the restoration of the RPA function.

[0040] Based on the above technical solution, the user can restore the RPA function through the second control on the fourth interface. After receiving the seventh instruction and detecting that the temporary obstacle has been removed, the vehicle can restore the RPA function and continue to park in the target parking space.

[0041] According to a third aspect, a parking device is provided, which includes: a receiving unit for receiving a first instruction from a user, the first instruction instructing parking in a target parking space through a remote parking assistance (RPA) function, where a temporary obstacle is placed in the target parking space; a sending unit for sending a second instruction to a mobile terminal in response to receiving the first instruction and controlling a prompt device to prompt the user to get off the vehicle and remove the temporary obstacle, the second instruction being used to instruct parking in the target parking space through the RPA function; and a control unit for controlling the vehicle to park in the target parking space when detecting that the user gets off the vehicle and receiving a third instruction sent by the mobile terminal, the third instruction being used to instruct the vehicle to park in the target parking space.

[0042] In combination with the third aspect, in certain implementations of the third aspect, the device further includes: an acquisition unit, configured to acquire information of one or more parking spaces, including the target parking space, before the receiving unit receives the user's first instruction; the control unit is further configured to control the prompt device to prompt that a temporary obstacle is placed on the target parking space and that only the RPA function is supported for the target parking space when the receiving unit receives the user's fourth instruction, and the fourth instruction is an instruction for the user to select the target parking space.

[0043] In combination with the third aspect, in certain implementations of the third aspect, the control unit is further used to control the vehicle to stop parking in the target parking space and send a fifth instruction to the mobile terminal when the distance between the vehicle and the temporary obstacle is less than or equal to a preset distance. The fifth instruction is used to instruct the mobile terminal to prompt the user to remove the temporary obstacle.

[0044] In combination with the third aspect, in certain implementations of the third aspect, the control unit is further configured to control the vehicle to continue parking in the target parking space when it is detected that the user has removed the temporary obstacle within a first preset time period.

[0045] In combination with the third aspect, in certain implementations of the third aspect, the sending unit is also used to send a sixth instruction to the mobile terminal when the control unit does not detect that the user has removed the temporary obstacle within a first preset time period, and the sixth instruction indicates that the temporary obstacle has not been removed within the first preset time period.

[0046] In combination with the third aspect, in certain implementations of the third aspect, the control unit is further used to control the vehicle to continue parking in the target parking space when the receiving unit receives the seventh instruction sent by the mobile terminal and detects that the temporary obstacle has been removed, and the seventh instruction is used to instruct the restoration of the RPA function.

[0047] In a fourth aspect, a parking device is provided, which includes: a receiving unit for receiving a second instruction sent by a vehicle, the second instruction being used to instruct parking in a target parking space through the RPA function, the target parking space being a parking space identified by the vehicle and having a temporary obstacle placed therein; a control unit for controlling a display device to display a first interface according to the second instruction, the first interface including a first control being a control for turning on the RPA function; a sending unit for sending a third instruction to the vehicle when the acquisition unit acquires the user's first input for the first control, the third instruction being used to instruct the vehicle to start parking in the target parking space.

[0048] In combination with the fourth aspect, in certain implementations of the fourth aspect, the control unit is further used to control the display device to switch from displaying the first interface to displaying the second interface when the acquisition unit acquires the user's first input for the first control, and the second interface is a display interface of the vehicle parked in the target parking space. The receiving unit is also used to receive a fifth instruction sent by the vehicle, and the fifth instruction is used to instruct the mobile terminal to prompt the user to remove the temporary obstacle; the control unit is also used to control the display device to switch from displaying the second interface to displaying the third interface according to the fifth instruction, and the third interface includes a first prompt message, and the first prompt message is used to prompt the user to remove the temporary obstacle.

[0049] In combination with the fourth aspect, in certain implementations of the fourth aspect, the receiving unit is further used to receive a sixth instruction sent by the vehicle, the sixth instruction indicating that the temporary obstacle has not been removed within a first preset time period; the control unit is further used to control the display device to switch from displaying the third interface to displaying the fourth interface according to the sixth instruction, and the fourth interface includes a second prompt information, and the second prompt information is used to indicate that the RPA function has been suspended.

[0050] In combination with the fourth aspect, in certain implementations of the fourth aspect, the fourth interface also includes a second control, which is a control for restoring the automatic parking function. The sending unit is also used to send a seventh instruction to the vehicle when the acquisition unit obtains the user's second input for the second control. The seventh instruction is used to instruct the restoration of the RPA function.

[0051] In a fifth aspect, a parking device is provided, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to enable the device to perform any possible parking method in the first aspect.

[0052] In a sixth aspect, a parking device is provided, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to enable the device to perform any possible parking method in the second aspect.

[0053] In a seventh aspect, a control system is provided, which includes the above-mentioned vehicle and mobile terminal.

[0054] In an eighth aspect, the present application provides a vehicle comprising any possible device according to the third aspect or the fifth aspect.

[0055] In a ninth aspect, the present application provides a mobile terminal comprising any possible device of the fourth or sixth aspect above.

[0056] In a tenth aspect, the present application provides a computer program product, which includes: a computer program code, which, when executed on a computer, enables the computer to execute any possible parking method in the first or second aspect.

[0057] It should be noted that the above-mentioned computer program code can be stored in whole or in part on the first storage medium, wherein the first storage medium can be packaged together with the processor or separately packaged with the processor, and the embodiments of the present application do not specifically limit this.

[0058] In an eleventh aspect, the present application provides a computer-readable medium storing a program code. When the computer program code runs on a computer, the computer executes any possible parking method in the first or second aspect.

[0059] In a twelfth aspect, the present application provides a chip, which includes a circuit for executing any possible method in the first aspect or the second aspect above.

[0060] In a thirteenth aspect, the present application provides a parking method, the method comprising: determining a target parking space, the status of the target parking space being occupied; determining a parking mode, the parking mode comprising leaving the vehicle and parking in; in response to the status of the target parking space being idle, controlling the vehicle to park in the target parking space by leaving the vehicle.

[0061] Based on the above technical solution, even if the target parking space is occupied, the user can still select the "Leave Park" mode. When the target parking space is updated to "Free," the user can park into the target space by leaving the vehicle. This eliminates the need for the user to get out of the vehicle to remove the obstacle and then get back in to select "Leave Park," reducing the tedious steps involved in leaving the vehicle and improving the user's parking experience.

[0062] In some possible implementations, determining a target parking space includes: receiving a first instruction from a user, where the first instruction indicates a target parking space selected by the user.

[0063] In some possible implementations, determining a target parking space includes determining the target parking space from a plurality of parking spaces based on one or more of a parking distance, a parking time, or a number of parking attempts.

[0064] In some possible implementations, determining a target parking space includes: when detecting that there is an exclusive parking space for the user around the vehicle, determining the exclusive parking space as the target parking space.

[0065] In some possible implementations, determining the parking mode includes: receiving a second instruction from a user, where the second instruction indicates a parking mode selected by the user.

[0066] In some possible implementations, determining the parking mode includes determining the parking mode based on the status of the target parking space. For example, when the status of the target parking space is occupied, the parking mode may be determined to be pull-in parking or remote parking.

[0067] In combination with the thirteenth aspect, in certain implementations of the thirteenth aspect, in response to the status of the target parking space being idle, controlling the vehicle to park into the target parking space using the leave-the-vehicle function, including: in response to determining the parking mode, the status of the target parking space is occupied, controlling the vehicle to output a first prompt message, the first prompt message indicating that the leave-the-vehicle function cannot be activated and / or indicating that the user needs to update the status of the target parking space to idle; in response to the status of the target parking space being updated to idle, controlling the vehicle to park into the target parking space.

[0068] Based on the above technical solution, when the target parking space is occupied, the vehicle can output a first prompt message, thereby prompting the user to remove obstacles in the parking space in time so that the vehicle can be parked in the target parking space.

[0069] In combination with the thirteenth aspect, in certain implementations of the thirteenth aspect, in response to the status of the target parking space being idle, controlling the vehicle to park in the target parking space by leaving the vehicle, including: in response to determining the parking mode, the status of the target parking space is occupied, controlling the vehicle to travel from the starting position to the vicinity of the target parking space and then brake to stop; in response to the status of the target parking space being updated to idle, controlling the vehicle to park in the target parking space.

[0070] Based on the above technical solution, when the status of the target parking space is occupied, the vehicle can also activate the pull-out parking function and brake to a stop near the target parking space. When the status of the target parking space is updated to free, the vehicle can continue to park in the target parking space.

[0071] In combination with the thirteenth aspect, in certain implementations of the thirteenth aspect, the parking mode is determined, the status of the target parking space is occupied, and the vehicle drives from the starting position to the vicinity of the target parking space and then brakes to a stop, and also includes: controlling the vehicle to output a second prompt message, the second prompt message being used to indicate to the user that the status of the target parking space needs to be updated to idle, and the output method of the second prompt message includes at least one of the following: flashing lights, sound, and pushing a prompt message to a mobile terminal.

[0072] Based on the above technical solution, when the vehicle stops near the target parking space, a second prompt message can be output, so that the user can be prompted to remove the obstacles in the parking space in time so that the vehicle can be parked in the target parking space.

[0073] In combination with the thirteenth aspect, in certain implementations of the thirteenth aspect, before determining the parking mode, the method further includes: receiving an instruction from the user, the instruction instructing the user to activate parking; in response to the received instruction, controlling the vehicle to travel from the starting position to the vicinity of the target parking space and then braking to a stop.

[0074] In some possible implementations, receiving the user's instruction includes: receiving a user's instruction to select an APA.

[0075] Based on the above technical solution, the user can activate parking when the target parking space is occupied. After parking is activated, the vehicle can brake and stop near the target parking space and continue to use pull-out parking. If the target parking space is vacant, the vehicle can continue to park into the target space using pull-out parking. In this way, after activating pull-out parking, the vehicle can connect to APA and continue parking into the target space.

[0076] In a fourteenth aspect, the present application provides a parking method, the method comprising: determining a target parking space, the status of the target parking space being occupied; determining a parking mode, the parking mode comprising remote control parking; in response to the status of the target parking space being idle, controlling a vehicle to park in the target parking space using the remote control parking.

[0077] Based on the above technical solution, even if the target parking space is occupied, users can still select remote parking. When the target parking space's status changes to free, users can park into the target space through remote parking. This eliminates the need for users to exit the vehicle to remove the obstacle and then return to the vehicle to select remote parking, reducing the user's tedious operations and improving the user's parking experience.

[0078] In combination with the fourteenth aspect, in certain implementations of the fourteenth aspect, in response to the status of the target parking space being idle, controlling the vehicle to park in the target parking space using the remote parking, including: in response to determining the parking mode, the status of the target parking space is occupied, controlling the vehicle to output a first prompt message, the first prompt message indicating that the remote parking cannot be activated or indicating that the user needs to update the status of the target parking space to idle; in response to the status of the target parking space being updated to idle, controlling the vehicle to park in the target parking space.

[0079] Based on the above technical solution, the vehicle outputs a prompt message to prompt the user to remove the obstacle from the target parking space in a timely manner. When the status of the target parking space is updated to free, the remote control parking can be activated and the vehicle can be controlled to park in the target parking space.

[0080] In combination with the fourteenth aspect, in certain implementations of the fourteenth aspect, controlling the vehicle to output a first prompt message includes: sending a first message to a mobile terminal, the first message indicating that the status of the target parking space is occupied, and the mobile terminal is used to prompt that the remote parking cannot be activated and / or prompt the user that the status of the target parking space needs to be updated to idle.

[0081] Based on the above technical solution, the vehicle can send a first message to the mobile terminal, causing the mobile terminal to prompt that the remote parking function cannot be activated and / or prompt the user to update the status of the target parking space to vacant. In this way, the user can promptly remove obstacles in the target parking space after seeing the prompt on the mobile terminal, allowing the vehicle to park in the target parking space as soon as possible.

[0082] In combination with the fourteenth aspect, in certain implementations of the fourteenth aspect, in response to the status of the target parking space being idle, controlling the vehicle to park in the target parking space by the remote parking method includes: in response to receiving an instruction sent by the mobile terminal, the instruction being used by the user to activate the remote parking method on the mobile terminal, and the status of the target parking space being occupied, controlling the vehicle to travel from the starting position to the vicinity of the target parking space and then braking to stop; in response to the status of the target parking space being updated to idle, controlling the vehicle to park in the target parking space.

[0083] Based on the above technical solution, when the target parking space is occupied, the vehicle can activate remote parking after receiving a command from a mobile terminal and brake to a stop near the target space. When the target parking space's status is updated to free, the vehicle can continue to park into the target space through remote parking. This allows the vehicle to activate remote parking after receiving a command from a mobile terminal when the target parking space is occupied, helping to expand the capabilities of remote parking.

[0084] In combination with the fourteenth aspect, in certain implementations of the fourteenth aspect, before receiving the second instruction from the user, the method also includes: receiving another instruction from the user, the other instruction instructing the user to activate parking; in response to the received other instruction, controlling the vehicle to travel from the starting position to the vicinity of the target parking space and then braking to a stop.

[0085] In some possible implementations, receiving another instruction from the user includes: receiving an instruction from the user to select an APA.

[0086] Based on the above technical solution, the user can activate parking when the target parking space is occupied. After parking is activated, the vehicle can brake and stop near the target parking space, and then continue to use remote parking. If the target parking space is vacant, the vehicle can continue to park into the target space using remote parking. In this way, after activating remote parking, the vehicle can connect to APA and continue to park into the target parking space.

[0087] In the fifteenth aspect, the present application provides a parking method, the method comprising: receiving a first message sent by a vehicle, the first message indicating that the status of a target parking space is occupied; in response to the first message, controlling a prompt device to prompt that a parking mode cannot be activated, and / or prompting a user to update the status of the target parking space to idle, the parking mode including any one of the following: leaving the vehicle to park in, remote control parking.

[0088] In combination with the fifteenth aspect, in certain implementations of the fifteenth aspect, the parking mode is remote-controlled parking, and the method further includes: receiving a second message sent by the vehicle, the second message indicating that the status of the target parking space is idle; in response to the second message, controlling the display device to prompt the user to activate the remote-controlled parking; in response to the user's input to activate the remote-controlled parking, sending a third message to the vehicle, the third message being used to indicate the activation of the remote-controlled parking.

[0089] In combination with the fifteenth aspect, in certain implementations of the fifteenth aspect, the first message is also used to instruct the vehicle to drive to the vicinity of the target parking space.

[0090] In combination with the fifteenth aspect, in certain implementations of the fifteenth aspect, before receiving the first message sent by the vehicle, the method also includes: receiving a fourth message sent by the vehicle, the fourth message indicating that the vehicle is away from the target parking space; in response to the fourth message, controlling the prompt device to prompt the user to activate the remote control parking.

[0091] In combination with the fifteenth aspect, in certain implementations of the fifteenth aspect, the parking mode is leave-the-vehicle parking, and the method further includes: receiving a fifth message sent by the vehicle, the fifth message indicating that the status of the target parking space is idle; in response to the fifth message, controlling the prompt device to prompt that the leave-the-vehicle parking has been activated.

[0092] In a sixteenth aspect, the present application provides a parking device, which includes: a determination unit for determining a target parking space, the status of which is occupied; the determination unit is also used to determine a parking mode, which includes leaving the vehicle and parking in; a control unit for controlling the vehicle to park in the target parking space in response to the status of which is idle.

[0093] In combination with the sixteenth aspect, in certain implementations of the sixteenth aspect, the control unit is specifically used to: in response to the determination unit determining the parking mode, the status of the target parking space is occupied, control the vehicle to output a first prompt message, the first prompt message indicating that the out-of-vehicle parking cannot be activated and / or indicating that the user needs to update the status of the target parking space to idle; in response to the status of the target parking space being updated to idle, control the vehicle to park in the target parking space.

[0094] In combination with the sixteenth aspect, in certain implementations of the sixteenth aspect, the control unit is specifically used to: in response to the determination unit determining the parking mode, the status of the target parking space is occupied, control the vehicle to travel from the starting position to the vicinity of the target parking space and then brake to stop; in response to the status of the target parking space being updated to idle, control the vehicle to park in the target parking space.

[0095] In combination with the sixteenth aspect, in certain implementations of the sixteenth aspect, the control unit is further used to: control the vehicle to output a second prompt message, the second prompt message being used to indicate to the user that the status of the target parking space needs to be updated to idle, and the output method of the second prompt message includes at least one of the following: flashing lights, sound, and pushing prompt information to a mobile terminal.

[0096] In combination with the sixteenth aspect, in certain implementations of the sixteenth aspect, the device further includes: a receiving unit, for receiving an instruction from the user before the determination unit determines the parking mode, the instruction instructing the user to activate parking; the control unit, further for controlling the vehicle to travel from the starting position to the vicinity of the target parking space and then brake to a stop in response to the received instruction.

[0097] In the seventeenth aspect, the present application provides a parking device, which includes: a determination unit for determining a target parking space, the status of which is occupied; the determination unit is also used to determine a parking mode, which includes remote control parking; and a control unit for controlling a vehicle to park in the target parking space by the remote control parking in response to the status of the target parking space being idle.

[0098] In combination with the seventeenth aspect, in certain implementations of the seventeenth aspect, the control unit is specifically used to: in response to the determination unit determining the parking mode, the status of the target parking space is occupied, control the vehicle to output a first prompt message, the first prompt message indicating that the remote parking cannot be activated or indicating that the user needs to update the status of the target parking space to idle; in response to the status of the target parking space being updated to idle, control the vehicle to park in the target parking space.

[0099] In combination with the seventeenth aspect, in certain implementations of the seventeenth aspect, the control unit is specifically used to: send a first message to the mobile terminal, the first message indicating that the status of the target parking space is occupied, and the mobile terminal is used to prompt that the remote parking cannot be activated and / or prompt the user that the status of the target parking space needs to be updated to idle.

[0100] In combination with the seventeenth aspect, in certain implementations of the seventeenth aspect, the control unit is specifically used to: in response to receiving an instruction sent by the mobile terminal, the instruction is used by the user to activate the remote parking on the mobile terminal, and the status of the target parking space is occupied, control the vehicle to travel from the starting position to the vicinity of the target parking space and then brake to stop; in response to the status of the target parking space being updated to idle, control the vehicle to park in the target parking space.

[0101] In combination with the seventeenth aspect, in certain implementations of the seventeenth aspect, the device further includes: a receiving unit, for receiving another instruction from the user before the determination unit determines the parking mode, the other instruction instructing the user to activate parking; in response to the received other instruction, controlling the vehicle to travel from the starting position to the vicinity of the target parking space and then braking to a stop.

[0102] In aspect 18, the present application provides a parking device, which includes: a receiving unit for receiving a first message sent by a vehicle, the first message indicating that the status of a target parking space is occupied; a control unit for responding to the first message, controlling a prompt device to prompt that a parking mode cannot be activated, and / or prompting a user to update the status of the target parking space to idle, and the parking mode includes any one of the following: leaving the vehicle to park in, remote control parking.

[0103] In combination with the eighteenth aspect, in certain implementations of the eighteenth aspect, the parking mode is remote control parking, and the receiving unit is further used to receive a second message sent by the vehicle, indicating that the status of the target parking space is idle; the control unit is further used to control the display device to prompt the user to activate the remote control parking in response to the second message; wherein the device also includes: a sending unit, used to send a third message to the vehicle in response to the user's input to activate the remote control parking, and the third message is used to indicate the activation of the remote control parking.

[0104] In combination with the eighteenth aspect, in certain implementations of the eighteenth aspect, the first message is also used to instruct the vehicle to drive to the vicinity of the target parking space.

[0105] In combination with the eighteenth aspect, in certain implementations of the eighteenth aspect, the receiving unit is further used to receive a fourth message sent by the vehicle before receiving the first message, and the fourth message indicates that the vehicle is away from the target parking space; the control unit is further used to control the prompt device to prompt the user to activate the remote parking in response to the fourth message.

[0106] In combination with the eighteenth aspect, in certain implementations of the eighteenth aspect, the parking mode is leave-the-vehicle parking, and the receiving unit is further used to receive a fifth message sent by the vehicle, and the fifth message indicates that the status of the target parking space is idle; the control unit is further used to respond to the fifth message and control the prompt device to prompt that the leave-the-vehicle parking has been activated.

[0107] In the nineteenth aspect, a parking device is provided, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to enable the device to execute any possible parking method in the thirteenth aspect or the fourteenth aspect.

[0108] In the twentieth aspect, a parking device is provided, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit so that the device executes any possible parking method in the fifteenth aspect.

[0109] In the twenty-first aspect, a parking system is provided, which includes a sensor and a computing platform, and the computing platform includes any possible parking device in the above-mentioned sixteenth aspect, seventeenth aspect or nineteenth aspect.

[0110] In aspect 22, the present application provides a vehicle comprising any possible parking device according to aspect 16, aspect 17 or aspect 19, or comprising the parking system described in aspect 21 above.

[0111] In aspect 23, the present application provides a mobile terminal comprising any possible device in aspect 18 or aspect 20 above.

[0112] In aspect 24, the present application provides a computer program product, comprising: a computer program code, which, when executed on a computer, enables the computer to execute any one of the possible parking methods in aspects 13 to 15 above.

[0113] It should be noted that the above-mentioned computer program code can be stored in whole or in part on the first storage medium, wherein the first storage medium can be packaged together with the processor or separately packaged with the processor, and the embodiments of the present application do not specifically limit this.

[0114] In aspect 25, the present application provides a computer-readable medium storing a program code. When the computer program code runs on a computer, the computer executes any possible parking method in aspects 13 to 15 above.

[0115] In aspect 26, the present application provides a chip comprising a circuit for executing any possible method in aspects 13 to 15 above. BRIEF DESCRIPTION OF THE DRAWINGS

[0116] FIG1 is a functional block diagram of a vehicle provided in an embodiment of the present application.

[0117] FIG2 is a schematic block diagram of an ADAS provided in an embodiment of the present application.

[0118] 3-6 are a set of human-machine interfaces HMI provided in an embodiment of the present application.

[0119] 7-11 are another set of HMIs provided in an embodiment of the present application.

[0120] 12-13 are another set of HMIs provided in an embodiment of the present application.

[0121] FIG14 is a schematic flowchart of a parking method provided in an embodiment of the present application.

[0122] FIG15 is another schematic flowchart of the parking method provided in an embodiment of the present application.

[0123] FIG16 is another schematic flowchart of the parking method provided in an embodiment of the present application.

[0124] FIG17 is another schematic flowchart of the parking method provided in an embodiment of the present application.

[0125] FIG18 is a schematic block diagram of a parking device provided in an embodiment of the present application.

[0126] FIG19 is another schematic block diagram of a parking device provided in an embodiment of the present application.

[0127] FIG20 is another schematic flowchart of the parking method provided in an embodiment of the present application.

[0128] 21-24 are another set of HMIs provided by an embodiment of the present application.

[0129] 25-26 are another set of HMIs provided in an embodiment of the present application.

[0130] Figures 27-31 are another set of HMIs provided by an embodiment of the present application.

[0131] Figures 32-34 are another set of HMIs provided in an embodiment of the present application.

[0132] Figures 35-39 are another set of HMIs provided by an embodiment of the present application.

[0133] Figures 40-43 are another set of HMIs provided by an embodiment of the present application.

[0134] Figure 44 is another schematic flowchart of the parking method provided in an embodiment of the present application.

[0135] Figure 45 is another schematic flowchart of the parking method provided in an embodiment of the present application.

[0136] Figure 46 is another schematic flowchart of the parking method provided in an embodiment of the present application.

[0137] Figure 47 is another schematic flowchart of the parking method provided in an embodiment of the present application.

[0138] Figure 48 is a schematic block diagram of a parking device provided in an embodiment of the present application.

[0139] Figure 49 is another schematic block diagram of the parking device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0140] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a way to describe the association relationship of associated objects, indicating that there can be three kinds of relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. "At least one" means one or more. For example, "at least one of A and B" is similar to "A and / or B", describing the association relationship of associated objects, indicating that there can be three kinds of relationships, for example, at least one of A and B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0141] In the embodiments of the present application, prefixes such as "first" and "second" are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present application does not constitute a restriction on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary restriction. In addition, in the description of this embodiment, unless otherwise specified, the meaning of "plurality" is two or more.

[0142] Figure 1 is a functional block diagram of a vehicle 100 provided in an embodiment of the present application. The vehicle 100 may include a perception system 110, a computing platform 120 and a display device 130, wherein the perception system 110 may include one or more sensors for sensing information about the environment surrounding the vehicle 100. For example, the perception system 110 may include a positioning system, and the positioning system may be a global positioning system (GPS), or a BeiDou system or other positioning systems. For another example, the perception system 110 may include one or more of an inertial measurement unit (IMU), an acceleration sensor, a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device. Exemplarily, the acceleration sensor may include a sensor for detecting the acceleration signal of an air suspension system, or may also include a sensor for the acceleration signal of an ESC.

[0143] Some or all functions of the vehicle 100 may be controlled by a computing platform 120. The computing platform 120 may include one or more processors, such as processors 121 to 12n (n is a positive integer). A processor is a circuit capable of processing signals. In one implementation, the processor may be a circuit capable of reading and executing instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor may implement certain functions through the logical relationships of a hardware circuit. The logical relationships of the hardware circuit may be fixed or reconfigurable. For example, the processor may be a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration file to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor may also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 120 may also include a memory for storing instructions, and some or all of the processors 121 to 12n may call the instructions in the memory to implement corresponding functions.

[0144] The display devices 130 in the cockpit are mainly divided into two categories: the first is the vehicle-mounted display screen; the second is a projection display screen, such as a head-up display (HUD). The vehicle-mounted display screen is a physical display screen and a key component of the in-vehicle infotainment system. The cockpit can be equipped with multiple displays, such as the digital instrument panel, the central control screen, the display in front of the front passenger (also known as the front passenger), the display in front of the left rear passenger, and the display in front of the right rear passenger. Even the vehicle windows can serve as display screens. A head-up display, also known as a head-up display system, is primarily used to display driving information such as speed and navigation on a display device in front of the driver (such as the windshield). This reduces the driver's gaze shift time, avoids pupil changes caused by the driver's gaze shift, and improves driving safety and comfort. HUDs include, for example, combiner-HUD (C-HUD), windshield-HUD (W-HUD), and augmented reality HUD (AR-HUD). It should be understood that other types of HUD systems may appear as technology evolves, and this application is not limited to this.

[0145] The above display device 130 is described by taking a vehicle-mounted display screen and a projection display screen as examples, and the embodiments of the present application are not limited thereto. For example, the display device 130 can also be a light display screen or a projection screen.

[0146] Vehicle 100 may include an advanced driving assistant system (ADAS). ADAS utilizes a variety of sensors on the vehicle (including but not limited to: lidar, millimeter-wave radar, camera, ultrasonic sensor, global positioning system, inertial measurement unit) to obtain information from the vehicle's surroundings, and analyzes and processes the obtained information to implement functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring / reminders, etc., thereby improving the safety, automation and comfort of vehicle driving.

[0147] For example, FIG2 shows a schematic block diagram of an ADAS provided by an embodiment of the present application. From a logical functional perspective, the ADAS may include three main functional modules: a perception module 210, a decision module 220, and an execution module 230. The perception module 210 senses the vehicle's surroundings through sensors and inputs corresponding real-time data into the decision module 220. The decision module 220 makes corresponding decisions based on the information obtained by the perception module 210. After receiving the decision signal from the decision module 220, the execution module 230 takes corresponding actions, such as driving, changing lanes, steering, braking, and warnings.

[0148] The above perception module 210 may be the above perception system 110 , and the decision module 220 may be located in the above computing platform 120 .

[0149] At different levels of automated driving (L0-L5), ADAS can provide varying degrees of automated driving assistance based on artificial intelligence algorithms and information acquired by multiple sensors. These levels are based on the Society of Automotive Engineers (SAE) grading standards. L0 is no automation; L1 is driving assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. At L1-L3, monitoring and responding to road conditions are performed jointly by the driver and the system, with the driver taking over dynamic driving tasks. At L4 and L5, the driver transitions completely to the role of passenger. For example, automated parking can include automatic parking assistance (APA), automated parking assistance (RPA), and automated parking assistance (AVP). With APA, the driver doesn't need to control the steering wheel, but still needs to operate the accelerator and brakes from within the vehicle. With RPA, the driver can remotely park the vehicle from outside using a terminal (such as a mobile phone). With AVP, the vehicle can park itself without a driver. In terms of the corresponding levels of autonomous driving, APA is approximately at the L1 level, RPA is approximately at the L2-L3 level, and AVP is approximately at the L4 level.

[0150] 3 to 6 show a set of human machine interfaces (HMIs) provided in an embodiment of the present application.

[0151] As shown in Figure 3, the vehicle can identify multiple parking spaces (including parking spaces 303-305) through data collected by sensors and display information about multiple parking spaces around the vehicle through the central control screen, where parking spaces 303 and 304 are vacant spaces, and parking space 305 is a parking space occupied by a temporary obstacle (such as a cone). The HMI also includes controls 301 and 302, where control 301 is the control corresponding to the APA function, and control 302 is the control corresponding to the RPA function. When a user clicks on parking space 305, the vehicle can display the HMI shown in Figure 4 through the central control screen.

[0152] As shown in Figure 4 , in response to detecting a user click on parking space 305, the vehicle's central control screen displays the parking path from the vehicle's current location into parking space 305, along with the prompt "Space temporarily occupied, only remote parking supported." At this point, control 301 is inaccessible, while control 302 is. Alternatively, the user can select the RPA function to control parking into space 305, but the APA function cannot. Upon detecting a user click on control 302, the vehicle's central control screen displays the HMI shown in Figure 5 .

[0153] As shown in Figure 5 , in response to detecting a user click on control 302, the vehicle can display a prompt on the central control screen: "Please engage P gear. Please close the door and remove any obstacles before exiting the vehicle." At this point, the HMI can display a 360° surround view and control 306, which is used to exit remote parking. Upon detecting a user shift to Park (P gear), the vehicle can display the HMI shown in Figure 6 on the central control screen.

[0154] As shown in FIG6 , in response to detecting that the user has adjusted the gear to P, the vehicle may display a prompt message on the central control screen: “Parked, please close the door and remove obstacles when getting off.”

[0155] Based on the above technical solution, the vehicle can identify parking spaces occupied by temporary obstacles or spaces that have been released. Users can select the parking space occupied by the temporary obstacle as their target and choose to park using the RPA function. This eliminates the need for users to get out of the vehicle, remove the temporary obstacle, and then get back in to park in the space using RPA, eliminating tedious RPA operations and improving the user's parking experience.

[0156] The above describes the HMI display process on the vehicle side in conjunction with FIG. 3 to FIG. 6 . The following describes the HMI display process on the mobile terminal side (eg, a mobile phone) in conjunction with FIG. 7 to FIG. 13 .

[0157] When the vehicle detects that the user clicks on the control 302, it can send a command 1 to the mobile phone, which is used to instruct the mobile phone to park using the RPA function. When the mobile phone receives the command 1 sent by the vehicle, it can display the HMI shown in Figure 7.

[0158] As shown in FIG7 , a mobile phone can display a remote parking display interface 1 , which includes the position information of the vehicle and parking space 305 , the parking path, the prompt message "Please maintain distance from the vehicle to ensure sufficient parking space," and a prompt box 401 . Prompt box 401 includes the prompt message "Remote parking is available. Click the park button to start parking," gear position information 402 (e.g., the vehicle is currently in P gear), and a control 403 for starting parking. Upon detecting a user click on control 403 , the mobile phone can display the HMI shown in FIG8 .

[0159] As shown in Figure 8, in response to detecting the user clicking on the control 403, the mobile phone can display the display interface 2 of the remote parking, which includes a prompt box 404, wherein the prompt box 404 includes the prompt information "Are you sure to start parking? When using remote parking, please always be near the vehicle. If the distance is far, it will cause parking to pause or exit remote parking. Remote parking is not unmanned automatic parking. Please be sure to monitor the entire process to ensure that the remote parking is completed safely to avoid damage to the vehicle or injury to others", cancel the control and confirm the control. When the user clicks the confirm control operation, the mobile phone can send a command 2 to the vehicle and display the HMI as shown in Figure 9. The command 2 can be used to instruct the vehicle to start the RPA function.

[0160] In one embodiment, upon receiving the instruction 2 , the vehicle may switch the gear to the R gear and start automatic parking.

[0161] As shown in Figure 9, in response to detecting that the user clicks the confirmation control, the mobile phone can display the remote parking display interface 3, which includes a prompt box 405, wherein the prompt box 405 includes the prompt information "Parking, please maintain Bluetooth connection and pay attention to the surrounding environment", gear information 406 (for example, the vehicle is in R gear at this time) and a pause control 407.

[0162] In one embodiment, the mobile phone can also receive parking information sent by the vehicle in real time, which includes information about the vehicle and the parking space 305. The mobile phone can display the process of the vehicle parking in the parking space 305 based on the parking information sent by the vehicle.

[0163] While the vehicle is activating the RPA function and parking in parking space 305, the vehicle can monitor its surroundings in real time. If it detects that the distance between the vehicle and the cones is less than or equal to a preset distance, the vehicle can send a command 3 to the mobile phone, indicating that the distance between the vehicle and the cones is less than or equal to the preset distance.

[0164] Exemplarily, the preset distance may be 30 cm.

[0165] As shown in Figure 10, in response to receiving the instruction 3, the mobile phone can remotely control the parking display interface 4, which includes a prompt box 408, wherein the prompt box 408 includes the prompt information "The parking space is temporarily occupied and waiting, please remove the temporary obstacles in the parking space and continue parking", gear information (for example, the vehicle is in R gear at this time) and pause control.

[0166] Display interface 4 shown in FIG10 above can also be referred to as the remote parking waiting interface. For example, upon receiving instruction 3, the mobile phone can start timer 1 (e.g., timer 1 has a duration of 15 seconds). If, while timer 1 is running, the mobile phone receives instruction 4 from the vehicle, it can automatically switch to display interface 3 shown in FIG11 . Instruction 4 indicates that the temporary obstacle has been removed from parking space 305. The mobile phone then continues to display the process of the vehicle automatically parking in parking space 305.

[0167] The duration of the above timer 1 can also be called the waiting duration.

[0168] As shown in 12, when timer 1 ends, the mobile phone does not receive the instruction 4 or the mobile phone receives the instruction 5 sent by the vehicle. At this time, the mobile phone can switch to displaying the remote parking display interface 5 as shown in 12. The instruction 5 is used to indicate that the RPA function has been suspended, or the instruction 5 is used to indicate that the temporary obstacle has not been removed within the waiting time and the vehicle's gear has been switched from R gear to P gear.

[0169] The display interface 5 includes a prompt box 501 , wherein the prompt box 501 includes a prompt message “Parking has been paused, please resume within 30 seconds, it will automatically exit if timeout”, gear information (for example, the vehicle is in P gear at this time), an exit control, and a continue control 503 .

[0170] For example, the vehicle can also start timer 1 when sending command 3 to the mobile phone. During the running period of timer 1, it will detect whether the cone has been removed from parking space 305. If the cone is detected to have been removed during the running period of timer 1, the vehicle can continue to perform the RPA function. If the cone is not detected to have been removed at the end of timer 1, the vehicle can control the gear to switch from R to P and send command 5 to the mobile phone.

[0171] The display interface 5 shown in 12 above can also be called the remote parking pause interface. When the mobile phone does not receive instruction 4 at the end of timer 1, it can switch to displaying the remote parking pause interface and start timer 2 (for example, the duration of timer 2 is 30s). During the operation of timer 2, when the mobile phone detects that the user clicks the continue control 503, it can send instruction 6 to the vehicle, which is used to instruct the vehicle to continue to perform the RPA function. In response to receiving the instruction 6, the vehicle can detect obstacles in the parking space 305. If there are no temporary obstacles in the parking space 305, the vehicle can continue to perform the RPA function and send instruction 7 to the mobile phone, which is used to instruct the vehicle to continue to perform the RPA function. In response to receiving the instruction 7, the mobile phone can switch to the display interface 3 displaying remote parking.

[0172] The running time of the above timer 2 can also be called the pause time.

[0173] If the user does not click on the continue control 503 when the timer 2 ends, the mobile phone may display the HMI as shown in FIG. 13 .

[0174] As shown in Figure 13 , the mobile phone may display the remote parking interface 6 , which includes a prompt box 504 containing the message "Parking has been exited. Please reauthorize or activate if parking again." If the user wishes to continue using the RPA function, they can return to the vehicle and select the desired parking space through the central control screen.

[0175] In one embodiment, at the end of timer 1, if the vehicle detects that the temporary obstacle has not been removed, the vehicle can start timer 2. At the end of timer 2, if the vehicle does not receive instruction 6 sent by the mobile phone, the vehicle can exit the RPA function.

[0176] FIG14 shows a schematic flow chart of a parking method 600 provided in an embodiment of the present application. The method 600 may be executed by a vehicle, or may be executed by a display system and ADAS in the vehicle. The method 600 includes:

[0177] S601: The perception module obtains information about parking spaces and temporary obstacles.

[0178] Optionally, the perception module obtains information about parking spaces and temporary obstacles, including: when the vehicle is in the parking lot and the speed of the vehicle is less than or equal to a preset speed, the perception module obtains information about the parking space and temporary obstacles.

[0179] Exemplarily, the preset speed is 20 km / h.

[0180] Exemplarily, the temporary obstacle may include cones, ground locks, motorcycles, non-motor vehicles (eg, bicycles), users, and the like.

[0181] S602: The perception module sends information about parking spaces and temporary obstacles to the motion planning module.

[0182] For example, as shown in Figure 3, the perception module can send information about multiple parking spaces around the vehicle and information about temporary obstacles to the motion planning module. For example, the multiple parking spaces include parking spaces 303 to 305, where parking spaces 303 and 304 are vacant, and parking space 305 is occupied by a temporary obstacle.

[0183] For example, upon receiving information about the parking space and the temporary obstacle, the motion planning module may pre-plan a parking path for the vehicle to park from the current position into the parking space occupied by the temporary obstacle.

[0184] S603: The motion planning module sends information about vacant parking spaces and parking spaces occupied by temporary obstacles to the display system.

[0185] Exemplarily, the display system may include the vehicle's parking application and central control screen.

[0186] Exemplarily, the motion planning module sends the information of parking spaces 303-305 and the information of cone barrels to the display system.

[0187] S604, the display system can display the vacant parking spaces and parking spaces occupied by temporary obstacles on the central control screen.

[0188] For example, as shown in FIG3 , the vehicle may display parking spaces 303 - 305 on a display screen, wherein parking spaces 303 and 304 are vacant parking spaces, and parking space 305 is a parking space occupied by a temporary obstacle.

[0189] S605 , the display system obtains an instruction from the user to click on the parking space occupied by the temporary obstacle.

[0190] For example, as shown in FIG3 , the display system may obtain the user's operation of clicking on the parking space 305 .

[0191] S606, the display system sends information about parking spaces occupied by temporary obstacles to the motion planning module.

[0192] S607: The motion planning module performs parking path planning for the parking space occupied by the temporary obstacle.

[0193] For example, the motion planning module can plan a parking path from the vehicle's current position into the parking space 305, and the motion planning module can send the parking path to the display system, so that the display system can display the parking path from the vehicle's current position into the parking space 305. For example, as shown in FIG4 , the vehicle can display the parking path.

[0194] Exemplarily, the motion planning module may use a path planning algorithm such as a geometric method or a hybrid A* algorithm to obtain the parking path.

[0195] S608: The motion planning module sends parking preparation information to the finite state machine.

[0196] S609 , the finite state machine switches the vehicle state to a standby state based on the parking preparation information sent by the motion planning module.

[0197] S610: The finite state machine sends the standby state to the display system.

[0198] S611, in response to receiving the standby state, the display system may display on the central control screen that the parking space occupied by the temporary obstacle only supports the RPA function.

[0199] For example, as shown in FIG4 , the display system may display on the central control screen that only the RPA function is supported for parking space 305 (control 302 can be clicked and control 301 cannot be clicked).

[0200] S612: The system receives a user instruction to enable the RPA function.

[0201] For example, as shown in FIG4 , when the display system detects that the user clicks on the control 302 , it obtains the user's instruction to enable the RPA function.

[0202] Optionally, when the display system obtains the user's instruction to turn on the RPA function, it can send an instruction 1 to the mobile phone. When the mobile phone receives the instruction 1, it can display the display interface 1 of the remote parking function.

[0203] At S613, the display system prompts the user through the central control screen to shift into P gear, get out of the vehicle, close the door, and remove the temporary obstacle.

[0204] For example, as shown in FIG5 , when detecting that the user clicks on the control 302 , the display system may display a prompt message on the central control screen: “Please shift to P gear, close the door and remove obstacles when getting off the car.”

[0205] For example, when the execution module (not shown in FIG14 ) detects that the user has switched the vehicle's gear to P, it can send gear information to the display system. Upon receiving the information that the vehicle is in P, the display system can prompt the user on the central control screen that the vehicle has been parked and that the user has removed the temporary obstacle after getting out of the vehicle, closing the door, and so on.

[0206] FIG15 shows a schematic flow chart of a parking method 700 provided in an embodiment of the present application. As shown in FIG15 , the method 700 can be executed by a mobile phone and a vehicle. The method 700 includes:

[0207] S701, the mobile phone performs a system self-check before parking.

[0208] S702: The mobile phone sends an RPA service heartbeat to the finite state machine.

[0209] S703: The finite state machine sends the RPA authorization to the mobile phone.

[0210] S704: The finite state machine switches the vehicle state to the RPA standby state.

[0211] S705: The finite state machine sends the RPA standby state to the mobile phone.

[0212] For example, when the mobile phone receives the RPA standby state and RPA authorization, it can display the remote parking display interface 1 as shown in FIG7 .

[0213] S706: The mobile phone receives a user instruction to start the RPA function.

[0214] For example, as shown in FIG8 , when the mobile phone detects that the user clicks the OK control, it obtains the user's instruction to start the RPA function.

[0215] S707: The mobile phone requests the finite state machine to start the RPA function.

[0216] S708: The finite state machine switches the vehicle state to the RPA parking state.

[0217] S709: The finite state machine sends the RPA docking state to the motion planning module.

[0218] S710: The motion planning module sends the parking path to the execution module.

[0219] For example, the motion planning module may send the parking path planned in S607 to the execution module.

[0220] S711: The execution module controls the vehicle based on the parking path.

[0221] For example, the actuator may include a steering system, a braking system, etc.

[0222] S712: The motion planning module determines that the vehicle is hit by a temporary obstacle and stops.

[0223] For example, while the vehicle is parking in parking space 305, the perception module can perceive the surrounding environment in real time. If it detects that the distance between the vehicle and a temporary obstacle in parking space 305 is less than or equal to a preset distance, it can send instruction information 1 to the motion planning module, indicating that the distance between the vehicle and the temporary obstacle is less than or equal to the preset distance. Based on instruction information 1, the motion planning module can determine that the vehicle has been stopped by the temporary obstacle and send instruction information 2 to the execution module, instructing the execution module to brake the vehicle.

[0224] S713, the motion planning module sends instruction 3 to the mobile phone.

[0225] S714: In response to receiving the instruction 3, the mobile phone may prompt the user to remove the temporary obstacle.

[0226] For example, as shown in FIG10 , in response to receiving the instruction 3 , the mobile phone can remotely control the parking display interface 4 , which includes a prompt box 408 , wherein the prompt box 408 includes a prompt message “The parking space is temporarily occupied and waiting. Please remove the temporary obstacles in the parking space and continue parking.”

[0227] S715a: The motion planning module determines that the temporary obstacle has not been removed within the waiting time.

[0228] S716a, the motion planning module sends instruction 5 to the mobile phone.

[0229] S717a: In response to receiving the instruction 5, the mobile phone prompts the user that parking has been paused and prompts the user to resume within the pause time.

[0230] For example, as shown in Figure 12, when the waiting time expires, the mobile phone does not receive the command 4 or receives the command 5. The mobile phone can switch to the display interface 5 showing the remote parking, which includes a prompt box 501, wherein the prompt box 501 includes a prompt message "Parking has been paused, please resume within 30 seconds, and the system will automatically exit if the timeout expires."

[0231] S718: The motion planning module determines that the instruction 6 is not received within the pause time.

[0232] S719: The motion planning module instructs the execution module to exit the RPA function.

[0233] S720: When the mobile phone does not detect that the user clicks on the control for continuing the RPA function or detects that the user clicks on the control for exiting the RPA function within the pause time, the mobile phone prompts the user that the RPA function has been exited.

[0234] FIG15 above describes the interaction process between the mobile phone and the vehicle when the temporary obstacle is not removed within the waiting time and the pause time. FIG16 below describes the interaction process between the mobile phone and the vehicle when the temporary obstacle is removed within the waiting time.

[0235] FIG16 shows another schematic flow chart of a parking method 700 provided in an embodiment of the present application. As shown in FIG16 , the method 700 can be executed by a mobile phone and a vehicle. The method 700 includes:

[0236] S715b: The motion planning module determines that the temporary obstacle is removed within the waiting time.

[0237] S716b, the motion planning module sends instruction 4 to the mobile phone.

[0238] S717b: In response to receiving the instruction 4, the mobile phone may continue to display the remote parking display interface 3.

[0239] As shown in FIG11 , during the waiting period, if the mobile phone receives a command 4 sent by the vehicle, the mobile phone can continue to display the display interface 3 .

[0240] S721, the motion planning module determines whether the vehicle reaches the target posture.

[0241] S722: The motion planning module sends parking completion information to the finite state machine.

[0242] S723: The finite state machine switches the vehicle state to the parking completion state.

[0243] S724 , the finite state machine instructs the execution module to delay powering off for 30 seconds.

[0244] During the delay 30 seconds of powering off, the user can also use the mobile phone to control the vehicle, for example, to control the vehicle to be parked in the center of the parking space 305.

[0245] S725, the finite state machine sends the parking completion status to the mobile phone.

[0246] S726 , in response to receiving the parking completion status, the mobile phone may display a parking completion interface, which includes a locking control.

[0247] S727: Obtain the user's vehicle lock instruction.

[0248] S728, the mobile phone sends a vehicle locking signal to the execution module.

[0249] S729: In response to receiving the vehicle locking signal, the execution module may control the vehicle to be locked.

[0250] FIG17 shows a schematic flow chart of a parking method 900 provided in an embodiment of the present application. The method 900 can be implemented by a vehicle and a mobile terminal. The method 900 includes:

[0251] S910, the vehicle receives a first instruction from the user, which instructs the vehicle to park in a target parking space through the remote parking assistance (RPA) function, where a temporary obstacle is placed.

[0252] Exemplarily, the temporary obstacles include but are not limited to cones, ground locks, motorcycles, electric vehicles, non-motor vehicles (e.g., bicycles), users, etc.

[0253] Optionally, before the vehicle receives the user's first instruction, the method 900 also includes: obtaining information of one or more parking spaces, which include the target parking space; when receiving the user's fourth instruction, controlling the prompt device to prompt that a temporary obstacle is placed on the target parking space and only the RPA function is supported for the target parking space, and the fourth instruction is an instruction for the user to select the target parking space.

[0254] For example, as shown in Figure 3, the one or more parking spaces may include vacant spaces (e.g., spaces 303 and 304) and spaces occupied by temporary obstacles (e.g., spaces 305). Upon detecting the user's operation of the selection control 302, the vehicle may prompt the user that a temporary obstacle is placed in space 305 and that only the RPA function is supported for that space 305.

[0255] As shown in Figure 4, the first instruction can be the user's operation of clicking the control 302 on the central control screen, or it can be the user's voice instruction, for example, "use remote parking to park in the memory parking space" (for example, parking space 305 can be the parking space where the vehicle was previously parked).

[0256] As shown in FIG3 , the fourth instruction may be an operation of the user clicking on the parking space 305 through the central control screen, or may be a voice instruction of the user, for example, “select a memory parking space”.

[0257] Optionally, the vehicle can distinguish between vacant parking spaces and parking spaces occupied by temporary obstacles through the central control screen.

[0258] For example, vacant parking spaces can appear dark blue, while spaces occupied by temporary obstacles can appear light blue.

[0259] For another example, the recommendation degree of the parking spaces may be presented among the vacant parking spaces and the parking spaces occupied by temporary obstacles. For example, the recommendation degree of parking space 303 is 80%, the recommendation degree of parking space 304 is 90%, and the recommendation degree of parking space 305 is 70%.

[0260] S920, in response to receiving the first instruction, the vehicle sends a second instruction to the mobile terminal and controls the prompt device to prompt the user to get off the vehicle and remove the temporary obstacle, the second instruction being used to instruct parking in the target parking space through the RPA function.

[0261] The second instruction may be the instruction 1 mentioned above.

[0262] For example, as shown in FIG5 , when detecting that a user clicks on the control 302 , the vehicle may display a prompt message on the central control screen: “Please shift to P gear, close the door and remove obstacles when getting off the vehicle.”

[0263] Optionally, the method 900 further includes: the vehicle can periodically send information about the vehicle and the target parking space to the mobile terminal. In this way, the mobile phone can display the movement process of the vehicle along the parking path and the information about the target parking space on the display screen.

[0264] S930: When the first input from the user is obtained, the mobile terminal sends a third instruction to the vehicle, where the third instruction is used to instruct the vehicle to start parking in the target parking space.

[0265] Optionally, when the user's first input is obtained, the mobile terminal sends a third instruction to the vehicle, including: according to the second instruction, controlling the display device to display a first interface, the first interface including a first control, and the first control is a control for turning on the RPA function; when the user's first input for the first control is obtained, sending a third instruction to the vehicle, the third instruction is used to instruct the vehicle to start parking in the target parking space.

[0266] Exemplarily, the first interface may be the display interface 1 shown in FIG. 7 .

[0267] Optionally, when the second instruction sent by the vehicle is obtained, the mobile phone can automatically switch from the current display interface to the remote parking display interface 1.

[0268] The third instruction may be the instruction 2 mentioned above.

[0269] S940: When it is detected that the user gets off the vehicle and a third instruction sent by the mobile terminal is received, the vehicle is controlled to park in the target parking space.

[0270] For example, as shown in FIG8 , when the mobile phone detects that the user clicks the confirmation control, the mobile phone may send a third instruction to the vehicle so that the vehicle can automatically park in the parking space 305 through the RPA function.

[0271] Optionally, the method 900 further includes: when obtaining a first input from the user to the first control, controlling the display device to switch from displaying the first interface to displaying a second interface, the second interface being a display interface of the vehicle parking in the target parking space.

[0272] Exemplarily, the second interface may be the display interface 3 shown in FIG. 9 .

[0273] Optionally, the method 900 also includes: when the distance between the vehicle and the temporary obstacle is less than or equal to a preset distance, the vehicle stops parking in the target parking space and the vehicle sends a fifth instruction to the mobile terminal, the fifth instruction being used to instruct the mobile terminal to prompt the user to remove the temporary obstacle; the mobile phone controls the display device to switch from displaying the second interface to displaying a third interface according to the fifth instruction, the third interface including a first prompt message, and the first prompt message is used to prompt the user to remove the temporary obstacle.

[0274] The fifth instruction may be the instruction 3 mentioned above.

[0275] Exemplarily, the third interface may be the display interface 4 shown in FIG. 10 .

[0276] Exemplarily, as shown in FIG10 , in response to receiving the instruction 3 , the mobile phone may display a display interface 4 for remote parking through the display screen, wherein the display interface 4 includes a prompt box 408 , wherein the prompt box 408 includes a prompt message “The parking space is temporarily occupied and waiting, please remove the temporary obstacles in the parking space and continue parking”, gear information (for example, the vehicle is in gear R at this time) and a pause control.

[0277] Optionally, the method 900 further includes: when it is detected that the user has removed the temporary obstacle within a first preset time period, the vehicle may continue to perform the RPA function, or may continue to control the vehicle to continue parking in the target parking space.

[0278] Optionally, the method 900 also includes: when the user is not detected to have removed the temporary obstacle within the first preset time period, the vehicle sends a sixth instruction to the mobile terminal, the sixth instruction indicating that the temporary obstacle has not been removed within the first preset time period, or the sixth instruction indicating that the RPA function has been suspended.

[0279] Optionally, the method 900 also includes: the mobile terminal controls the display device to switch from displaying the third interface to displaying the fourth interface according to the sixth instruction, and the fourth interface includes a second prompt information, and the second prompt information is used to prompt that the RPA function has been suspended.

[0280] The fourth interface mentioned above may be the display interface 5 as shown in FIG. 12 .

[0281] The sixth instruction may be the instruction 5 mentioned above.

[0282] For example, as shown in 12, the mobile phone does not receive the instruction 4 within the waiting time, or the mobile phone receives the instruction 5 sent by the vehicle. At this time, the mobile phone can switch to the display interface 5 showing the remote parking, and the display interface 5 includes a prompt box 501, wherein the prompt box 501 includes the prompt message "Parking has been paused, please resume within 30 seconds, and it will automatically exit after timeout."

[0283] Optionally, the fourth interface also includes a second control, which is a control for restoring the automatic parking function. The method 900 also includes: when obtaining the user's second input for the second control, the mobile terminal sends a seventh instruction to the vehicle, and the seventh instruction is used to instruct the restoration of the RPA function.

[0284] Exemplarily, the second control may be the continue control 503 shown in FIG. 12 .

[0285] The seventh instruction may be the instruction 6 mentioned above.

[0286] Optionally, the method 900 further includes: upon receiving a seventh instruction sent by the mobile terminal and detecting that the temporary obstacle has been removed, the vehicle can continue to park in the target parking space, and the seventh instruction is used to instruct the restoration of the RPA function.

[0287] Figure 18 shows a schematic block diagram of a parking device 1000 provided in accordance with an embodiment of the present application. The device 1000 includes: a receiving unit 1010 for receiving a first instruction from a user, the first instruction instructing the user to park in a target parking space using the remote parking assistance (RPA) function, where a temporary obstacle is placed in the target parking space; a sending unit 1020 for, in response to receiving the first instruction, sending a second instruction to a mobile terminal and controlling a prompting device to prompt the user to get out of the vehicle and remove the temporary obstacle, the second instruction instructing the user to get out of the vehicle and remove the temporary obstacle; and a control unit 1030 for controlling the vehicle to park in the target parking space upon detecting that the user has gotten out of the vehicle and receiving a third instruction from the mobile terminal, the third instruction instructing the vehicle to park in the target parking space.

[0288] Optionally, the device 1000 also includes: an acquisition unit, used to acquire information of one or more parking spaces before the receiving unit receives the user's first instruction, and the one or more parking spaces include the target parking space; the control unit 1030 is also used to control the prompt device to prompt that a temporary obstacle is placed on the target parking space and only the RPA function is supported for the target parking space when the receiving unit receives the user's fourth instruction, and the fourth instruction is an instruction for the user to select the target parking space.

[0289] Optionally, the control unit 1030 is further used to control the vehicle to stop parking in the target parking space and send a fifth instruction to the mobile terminal when the distance between the vehicle and the temporary obstacle is less than or equal to a preset distance. The fifth instruction is used to instruct the mobile terminal to prompt the user to remove the temporary obstacle.

[0290] Optionally, the control unit 1030 is further configured to control the vehicle to continue parking in the target parking space when it is detected that the user has removed the temporary obstacle within a first preset time period.

[0291] Optionally, the sending unit 1020 is also used to send a sixth instruction to the mobile terminal when the control unit does not detect that the user has removed the temporary obstacle within the first preset time period, and the sixth instruction indicates that the temporary obstacle has not been removed within the first preset time period.

[0292] Optionally, the control unit 1030 is further used to control the vehicle to continue parking in the target parking space when the receiving unit 1010 receives the seventh instruction sent by the mobile terminal and detects that the temporary obstacle has been removed. The seventh instruction is used to instruct the restoration of the RPA function.

[0293] Figure 19 shows a schematic block diagram of a parking device 1100 provided in an embodiment of the present application. The device 1100 includes: a receiving unit 1110 for receiving a second instruction sent by a vehicle, the second instruction being used to instruct the vehicle to park into a target parking space through the RPA function, the target parking space being a parking space identified by the vehicle and having a temporary obstacle placed therein; a control unit 1120 for controlling a display device to display a first interface according to the second instruction, the first interface including a first control for enabling the RPA function; and a sending unit 1130 for sending a third instruction to the vehicle when the acquiring unit acquires a first input from the user to the first control, the third instruction being used to instruct the vehicle to begin parking into the target parking space.

[0294] Optionally, the control unit 1120 is further used to control the display device to switch from displaying the first interface to displaying the second interface when the acquisition unit acquires the user's first input for the first control, and the second interface is a display interface of the vehicle parked in the target parking space. The receiving unit 1110 is also used to receive a fifth instruction sent by the vehicle, and the fifth instruction is used to instruct the mobile terminal to prompt the user to remove the temporary obstacle; the control unit 1120 is also used to control the display device to switch from displaying the second interface to displaying the third interface according to the fifth instruction, and the third interface includes a first prompt message, and the first prompt message is used to prompt the user to remove the temporary obstacle.

[0295] Optionally, the receiving unit 1110 is further used to receive a sixth instruction sent by the vehicle, which indicates that the temporary obstacle has not been removed within a first preset time period; the control unit 1120 is further used to control the display device to switch from displaying the third interface to displaying the fourth interface according to the sixth instruction, and the fourth interface includes a second prompt information, which is used to prompt that the RPA function has been suspended.

[0296] Optionally, the fourth interface also includes a second control, which is a control for restoring the automatic parking function. The sending unit 1130 is also used to send a seventh instruction to the vehicle when the acquisition unit obtains the user's second input for the second control. The seventh instruction is used to instruct the restoration of the RPA function.

[0297] FIG20 shows a schematic flow chart of a parking method 1200 provided in an embodiment of the present application. The method 1200 may be executed by a vehicle; alternatively, the method 1200 may be executed by a computing platform 1200; alternatively, the method 1200 may be executed by a processor, chip, or circuit in the computing platform 120. The method 1200 includes:

[0298] S1210: Determine a target parking space, where the status of the target parking space is occupied.

[0299] Optionally, determining a target parking space includes: obtaining a first instruction from a user, where the first instruction indicates the target parking space selected by the user.

[0300] For example, as shown in FIG3 , when a user clicks on parking space 305, it can be determined that the target parking space selected by the user is parking space 305, and the status of parking space 305 is occupied. For example, parking space 305 is occupied by an obstacle (e.g., a cone, a ground lock, or another vehicle).

[0301] Optionally, determining a target parking space includes: determining the target parking space based on an environment in which the vehicle is currently located.

[0302] Optionally, determining the target parking space based on the vehicle's current environment includes: obtaining multiple parking spaces surrounding the vehicle; and determining the target parking space based on at least one of the parking time, parking distance, or number of parking maneuvers required for the vehicle to park in each of the multiple parking spaces. For example, the target parking space may be the parking space that requires the least number of parking maneuvers. For another example, the target parking space may be the parking space that requires the shortest parking time. For another example, the target parking space may be the parking space that requires the shortest parking distance.

[0303] For example, when the vehicle's current environment includes multiple parking spaces, among which the multiple parking spaces include only one parking space with a temporary obstacle (for example, a cone or a ground lock) and no other vehicles parked, and other parking spaces except this parking space are all parked with other vehicles, the parking space with the temporary obstacle and no other vehicles parked can be determined as the target parking space.

[0304] For example, a user can set up a dedicated parking space in the map in advance. If the vehicle's current environment includes the user's dedicated parking space, the dedicated parking space can be determined as the target parking space. The target parking space is occupied if another vehicle is parked there, or if the dedicated parking space is occupied by a temporary barrier (e.g., a cone or ground lock).

[0305] S1220: Determine a parking mode, which includes leaving the vehicle and parking in or remote control parking.

[0306] Optionally, determining the parking mode includes: obtaining a second instruction from the user, where the second instruction indicates the parking mode.

[0307] For example, as shown in FIG4 , when it is detected that the user clicks on the control 302 , it can be determined that the user has selected remote control parking.

[0308] Optionally, determining the parking mode includes: determining the parking mode according to the state of the target parking space. For example, when the state of the target parking space is occupied, the parking mode may be determined to be leave-and-park or remote parking.

[0309] 3 , when detecting that the user clicks on parking space 305, it can be determined that the target parking space selected by the user is the parking space 305. When it is determined that the status of the parking space 305 is occupied, it can be directly determined that the vehicle is parked in the parking space 305 by remote control.

[0310] S1230: In response to the target parking space being idle, control the vehicle to park in the target parking space in the parking mode.

[0311] Optionally, the parking mode is leave-the-vehicle parking, and in response to the status of the target parking space being idle, the vehicle is controlled to park in the target parking space in the parking mode, including: in response to determining that the parking mode is occupied, the status of the target parking space is controlled to output a first prompt message, the first prompt message indicating that the leave-the-vehicle parking cannot be activated and / or indicating that the user needs to update the status of the target parking space to idle; in response to the status of the target parking space being updated to idle, the vehicle is controlled to park in the target parking space.

[0312] For example, FIG. 21 to FIG. 24 show another set of HMIs provided by an embodiment of the present application.

[0313] As shown in Figure 21, the vehicle can identify multiple parking spaces (including parking spaces 303-305) through data collected by sensors and can display information about multiple parking spaces around the vehicle through the central control screen, where parking spaces 303 and 304 are idle, and parking space 305 is occupied. For example, parking space 305 is a parking space occupied by a temporary obstacle (such as a cone). The HMI also includes controls 1301, 1302, and 1303, where control 1301 is a control corresponding to the APA function, control 1302 is a control corresponding to the parking function, and control 1303 is a control corresponding to the remote control parking function. When a user clicks on parking space 305, the vehicle can display the HMI shown in Figure 22 through the central control screen.

[0314] When a click operation of the user on the parking space 305 is detected, it can be determined that the target parking space is the parking space 305 .

[0315] As shown in Figure 22, in response to detecting a user click on parking space 305, the vehicle's central control screen displays the parking path from the vehicle's current position into parking space 305, along with the prompt "Please remove obstacles. We recommend using walk-in parking or remote parking." At this point, control 1301 is inaccessible, while controls 1302 and 1303 are accessible. Upon detecting a user click on control 1302, the vehicle's central control screen displays the HMI shown in Figure 23.

[0316] When a click operation of the user on the control 1302 is detected, the parking mode may be determined to be the vehicle leaving and parking entering.

[0317] The expression of prompt information in the HMI in the embodiment of the present application is not limited to the examples in the figure. For example, it can include part or all of the content in the example, or it can also include other prompt information that facilitates user operation.

[0318] Optionally, in response to determining that the parking mode is in an occupied state, the vehicle is controlled to output a first prompt message, including: when the target parking space is in an occupied state, performing at least one of the following: controlling the vehicle's display screen to display a prompt message; controlling the vehicle's lights to flash; or controlling the vehicle's speakers to emit a prompt sound.

[0319] For example, the prompt message may be as shown in Figure 23, prompting the user to update the status of the target parking space to vacant. As shown in Figure 23, in response to detecting a user click on control 1302, the vehicle may display a prompt on the central control screen: "Please engage P gear. Please close the door and remove any obstacles when exiting the vehicle." At this point, the HMI may display control 1304, which is used to exit and park the vehicle.

[0320] The prompt information displayed on the HMI above is merely exemplary and is not specifically limited in the embodiments of the present application. For example, as shown in FIG23 , the vehicle may also display other prompt information on the central control screen, such as, "Parking space occupied, leaving the vehicle and parking in cannot be activated," "Waiting for space release, leaving the vehicle and parking in cannot be activated," "Please remove the obstacle, otherwise leaving the vehicle and parking in cannot be activated," etc.

[0321] For example, before it is detected that the user has gotten off the vehicle and the target parking space is vacant, a reminder sound "Please remove obstacles in the parking space" may be issued through a speaker outside the cabin.

[0322] For example, before detecting that the user has gotten off the vehicle and the target parking space is vacant, the vehicle lights may be controlled to flash to prompt the user to remove obstacles in the target parking space.

[0323] Before detecting that the status of parking space 305 is updated to vacant, the vehicle may not activate the pull-out parking. For example, before detecting that the status of parking space 305 is updated to vacant, the vehicle may send a first message to the mobile phone, indicating that the status of the target parking space (e.g., parking space 305) is occupied.

[0324] As shown in FIG24 , when the target parking space is detected to be vacant, the vehicle can activate the leave-and-park function and display a prompt message “Parking space released, leave-and-park activated” on the central control screen.

[0325] The above target parking space release can also be understood as the state of the target parking space being idle.

[0326] Optionally, in response to determining the parking mode, the status of the target parking space is occupied, and controlling the vehicle to output a first prompt information, including: sending a first message to the mobile terminal, the first message indicating that the status of the target parking space is occupied, and the mobile terminal is used to prompt that the parking function cannot be activated and / or prompt the user to update the status of the target parking space to idle based on the first message.

[0327] For example, FIG. 25 and FIG. 26 show the HMI provided by the embodiment of the present application.

[0328] As shown in Figure 25, in response to receiving the first message, the mobile phone may display a pull-in parking interface, which includes the prompt "System preparation, parking space occupied, vehicle in P gear, four doors and two hoods closed." Through this interface, the user can determine that the pull-in parking function is not yet activated because the target parking space is occupied.

[0329] The above four doors and two lids are explained using a sedan as an example. The four doors refer to the two front doors and the two rear doors, and the two lids refer to the front hood and the trunk lid.

[0330] For example, when the mobile phone displays the prompt message "System preparation, parking space is occupied, vehicle is in P gear, four doors and two hoods are closed", it can also prompt the user by vibrating.

[0331] As shown in Figure 26, in response to receiving the second message, the mobile phone can display another display interface for parking in and out, which includes a prompt message "The vehicle is parking in the parking space through the parking in and out function". The second message indicates that the status of the target parking space is idle.

[0332] The above control of the vehicle to output the first prompt information includes: before detecting that the user gets off the vehicle, controlling the display screen in the cockpit to display a prompt information (for example, the prompt information is "Please shift to P gear, please close the door and move the obstacles when getting off the vehicle") or controlling the speaker in the cockpit to output a prompt tone (for example, the prompt tone is "Please shift to P gear, please close the door and move the obstacles when getting off the vehicle"); when detecting that the user gets off the vehicle and closes the door, the vehicle lights can be controlled to flash; when the vehicle detects that the status of the target parking space is occupied within a preset time (for example, 10 seconds) from the flashing of the vehicle lights, the vehicle can send a first message to the mobile phone. After receiving the first message, the mobile phone can display the prompt information shown in Figure 25 and prompt the user by vibrating.

[0333] Optionally, the parking mode is pull-out parking, and in response to the target parking space being idle, the vehicle is controlled to park in the target parking space in the pull-out parking manner, including: in response to determining the parking mode and the target parking space being occupied, the vehicle is controlled to travel from a starting position to the vicinity of the target parking space and then brake to stop; in response to the target parking space being updated to idle, the vehicle is controlled to park in the target parking space.

[0334] For example, FIG. 27 to FIG. 31 show another set of HMIs provided by an embodiment of the present application.

[0335] Upon detecting a user selecting parking space 305, the vehicle may display the HMI shown in Figure 27 on the central control screen. Control 1501 on this HMI is in an unclickable state, while controls 1502 and 1503 are clickable. Control 1501 corresponds to the APA function, control 1502 corresponds to the Park-to-Go function, and control 1503 corresponds to the Remote Parking function. Upon detecting a user clicking control 1502, the central control screen may display a prompt message: "Please engage P gear. Please close the door and remove any obstacles before exiting the vehicle." Upon detecting that the user has exited the vehicle and closed the door, the vehicle may activate Park-to-Go.

[0336] Optionally, when it is detected that the parking space 305 is occupied by an obstacle, the control 1501 displayed on the central control screen can be controlled to be in a state that cannot be clicked.

[0337] Optionally, when it is detected that the parking space 305 is occupied by an obstacle and the distance between the vehicle and the parking space 305 is greater than or equal to a preset distance, or when it is detected that the parking space 305 is occupied by an obstacle and the distance between the vehicle and the obstacle on the parking space 305 is greater than or equal to a preset distance, the control 1501 displayed on the central control screen can be controlled to be in a clickable state.

[0338] When a vehicle activates Walk-Away Parking, it can send a message to the mobile phone indicating that the vehicle is parking into a target parking space using Walk-Away Parking. In response to receiving the message from the vehicle, the mobile phone displays the HMI shown in FIG28 . The HMI includes the prompt "Vehicle is parking into a parking space using Walk-Away Parking" and information about the vehicle and the target parking space, where an obstacle is located.

[0339] After the vehicle brakes and stops near the target parking space after driving from the starting position, it can send a first message to the mobile phone, indicating that the target parking space is occupied. As shown in Figure 29, in response to receiving the first message, the mobile phone can display a prompt message saying "Parking space is detected to be occupied by an obstacle. The parking function has been suspended. Please remove the obstacle."

[0340] Optionally, the first message further instructs the vehicle to drive to the vicinity of the target parking space.

[0341] When the vehicle detects that parking space 305 is vacant or that the user has removed the obstacle, the vehicle can activate pull-in parking and send a message to the mobile phone indicating that the target parking space is vacant. As shown in FIG30 , in response to receiving this message, the mobile phone can display a prompt message saying "Obstacle removed, pull-in parking function restored."

[0342] When the vehicle is detected to have parked in the parking space 305, the vehicle can send a message to the mobile phone indicating that the vehicle has parked in the target parking space. As shown in FIG31 , in response to receiving the message, the mobile phone can display a prompt message “Parked in the parking space via the exit parking function”.

[0343] Optionally, the parking mode is determined, the status of the target parking space is occupied, and the vehicle drives from the starting position to the vicinity of the target parking space and then stops, and also includes: controlling the vehicle to output a second prompt message, the second prompt message is used to indicate to the user that the status of the target parking space needs to be updated to idle, and the output method of the second prompt message includes at least one of the following: flashing lights, sound, and pushing prompt information to a mobile terminal.

[0344] Exemplarily, controlling the vehicle to output the second prompt information includes: sending the first message to a mobile phone so that the mobile phone displays the prompt information shown in FIG. 29 .

[0345] The process of the vehicle outputting the second prompt information can refer to the process of the vehicle outputting the first prompt information, which will not be repeated here.

[0346] Optionally, the parking mode is leaving the vehicle and parking in. Before determining the parking mode, the method 1200 further includes: receiving an instruction from the user, the instruction instructing the user to activate parking; in response to the received instruction, controlling the vehicle to travel from the starting position to the vicinity of the target parking space and then braking to a stop.

[0347] Optionally, receiving an instruction from the user includes: receiving an instruction from the user to enable an APA function.

[0348] For example, FIG32-FIG34 show another set of HMIs provided by an embodiment of the present application.

[0349] When a user clicks on parking space 305, the vehicle can display the HMI shown in Figure 32 on the central control screen. Controls 1601, 1602, and 1603 on this HMI are all clickable. Control 1601 corresponds to the APA function, control 1602 corresponds to the parking-in / out function, and control 1603 corresponds to the remote parking function. When a user clicks on control 1601, the vehicle can be controlled to park in parking space 305 using APA, and the HMI shown in Figure 33 can be displayed on the central control screen.

[0350] Optionally, when it is detected that the distance between the vehicle and the parking space 305 is greater than or equal to a preset distance, or the distance between the vehicle and an obstacle on the parking space 305 is greater than or equal to a preset distance, the control 1601 displayed on the display screen can be controlled to be in a clickable state.

[0351] As shown in Figure 33, after detecting that the vehicle has moved from its starting position to the vicinity of the target parking space, the vehicle can brake to a stop and display a prompt on the central control screen: "Parking space detected as occupied by an obstacle. APA function has been suspended. We recommend using exit parking or remote parking." At this time, control 1601 is unclickable, while controls 1602 and 1603 are clickable. When a user clicks control 1602, the central control screen displays the HMI shown in Figure 34.

[0352] As shown in Figure 34, the vehicle can display a prompt message on the central control screen: "Please engage P gear. Please close the door and remove any obstacles when exiting the vehicle." Before detecting that parking space 305 is vacant, the vehicle can control the parking mode to be inactive. Once the parking space 305 is vacant, the vehicle can activate the parking mode.

[0353] Optionally, the parking mode is remote-controlled parking, and in response to the target parking space being idle, the vehicle is controlled to park in the target parking space in the parking mode, including: in response to determining that the parking mode is established and the target parking space is occupied, the vehicle is controlled to output a first prompt message, the first prompt message indicating that the remote-controlled parking cannot be activated or indicating that the user needs to update the status of the target parking space to idle; in response to the target parking space being updated to idle, the vehicle is controlled to park in the target parking space.

[0354] For example, FIG35-FIG39 show another set of HMIs provided by an embodiment of the present application.

[0355] As shown in Figure 35, the vehicle can identify multiple parking spaces (including parking spaces 303-305) through data collected by sensors and display information about multiple parking spaces around the vehicle on the central control screen. Parking spaces 303 and 304 are unoccupied, and parking space 305 is occupied. For example, parking space 305 is occupied by a temporary obstacle (such as a cone). The HMI also includes controls 1701, 1702, and 1703. Control 1701 corresponds to the APA function, control 1702 corresponds to the parking function, and control 1703 corresponds to the remote control parking function. When a user clicks on parking space 305, the vehicle can display the HMI shown in Figure 36 on the central control screen.

[0356] When a click operation of the user on the parking space 305 is detected, it can be determined that the target parking space is the parking space 305 .

[0357] As shown in Figure 36 , in response to detecting a user click on parking space 305, the vehicle's central control screen displays the parking path from the vehicle's current position into parking space 305, along with the prompt "Please remove obstacles. We recommend using walk-in parking or remote parking." At this point, control 1701 is inaccessible, while controls 1702 and 1703 are accessible. Upon detecting a user click on control 1703, the vehicle's central control screen displays the HMI shown in Figure 37 .

[0358] When a click operation of the user on the control 1703 is detected, the parking mode can be determined to be the vehicle leaving and parking in.

[0359] Optionally, in response to determining that the parking mode is in an occupied state, the vehicle is controlled to output a first prompt message, including: when the target parking space is in an occupied state, performing at least one of the following: controlling the vehicle's display screen to display a prompt message; controlling the vehicle's lights to flash; or controlling the vehicle's speakers to emit a prompt sound.

[0360] As shown in Figure 37 , in response to detecting a user clicking control 1703, the vehicle may display a prompt message on the central control screen: "Please engage P gear. Please close the door and remove any obstacles before exiting the vehicle." For example, this first prompt message may be the one shown in Figure 37 . At this point, the HMI may display control 1704, which is used to exit remote parking.

[0361] Optionally, when the vehicle detects that the user clicks on the control 1703, the vehicle can control the lights to flash; or, when the vehicle detects that the user gets off the vehicle, the vehicle can control the lights to flash.

[0362] Optionally, controlling the vehicle to output a first prompt information includes: sending a first message to a mobile terminal, the first message indicating that the status of the target parking space is occupied, and the mobile terminal is used to prompt that the remote parking cannot be activated and / or prompt the user to update the status of the target parking space to idle.

[0363] For example, in response to determining that the parking mode is remote parking and the target parking space is occupied, the vehicle may send the first message to the mobile phone. As shown in FIG38 , in response to receiving the first message, the mobile phone may display a prompt message 1705 stating "System Preparation, Remote Parking Authorized, Parking Space Occupied, Vehicle in P, All Doors and Hood Closed." This prompt message may inform the user that remote parking cannot be activated and / or prompt the user to update the status of parking space 305 to vacant.

[0364] Optionally, the method 1200 further includes: when the status of the target parking space is updated to idle, the vehicle may send a second message to the mobile phone, where the second message indicates that the status of the target parking space is idle and / or the remote parking function is available.

[0365] In response to the second message, the mobile phone may display a prompt message, which is used to prompt the user to activate remote control parking; in response to the user's input to activate the remote control parking, a third message is sent to the vehicle, which is used to instruct the activation of remote control parking.

[0366] Optionally, in response to the status of the target parking space being updated to idle, controlling the vehicle to park in the target parking space includes: in response to the status of the target parking space being updated to idle and receiving a message sent by a mobile terminal, controlling the vehicle to park in the target parking space, the message instructing the vehicle to park in the target parking space.

[0367] For example, as shown in FIG39 , in response to receiving the second message, the mobile phone may display a remote parking interface. This interface includes the prompt "Remote parking available. Click the parking button to start parking" and a start parking control 1706. Upon detecting that the user has clicked the start parking control 1706, the mobile phone may send the third message to the vehicle. In response to this third message, the vehicle may park in the target parking space.

[0368] Optionally, the parking mode is remote-controlled parking, and in response to the status of the target parking space being idle, the vehicle is controlled to park into the target parking space by the remote-controlled parking, including: in response to receiving an instruction sent by the mobile terminal, the instruction is used by the user to activate the remote-controlled parking on the mobile terminal, and the status of the target parking space is occupied, the vehicle is controlled to travel from the starting position to the vicinity of the target parking space and then brake to stop; in response to the status of the target parking space being updated to idle, the vehicle is controlled to park into the target parking space.

[0369] For example, as shown in Figure 7, in response to detecting a user clicking control 403, the mobile phone can send a command to the vehicle, instructing the user to activate remote parking on the mobile phone. At this time, the status of the target parking space (parking space 305) is occupied. In response to receiving this command, the vehicle can drive from its actual location to the vicinity of the target parking space and brake to a stop. When the status of the target parking space is updated to free, the vehicle can park in the target parking space using remote parking.

[0370] Optionally, in response to the target parking space status being updated to idle, before controlling the vehicle to park in the target parking space, the method 1200 further includes: in response to the target parking space status being occupied, controlling the vehicle to output a third prompt message.

[0371] The above process of controlling the vehicle to output the third prompt information may refer to the above process of controlling the vehicle to output the first prompt information.

[0372] Exemplarily, controlling the vehicle to output the third prompt information includes: sending a first message to a mobile terminal, where the first message indicates that the status of the target parking space is occupied.

[0373] For example, as shown in FIG10 , in response to receiving the first message, the mobile phone may display a prompt message “The parking space is temporarily occupied and waiting. Please remove the temporary obstacles in the parking space and continue parking.”

[0374] Optionally, the parking mode is remote control parking. Before receiving the second instruction from the user, the method also includes: receiving another instruction from the user, the other instruction instructing the user to activate parking; in response to the received other instruction, controlling the vehicle to travel from the starting position to the vicinity of the target parking space and then braking to stop.

[0375] 40-43 show another set of HMIs provided by an embodiment of the present application.

[0376] As shown in Figure 40, after detecting that the vehicle has moved from its starting position to the vicinity of the target parking space using APA, the vehicle can brake and display a prompt on the central control screen: "Parking space detected as occupied by an obstacle. APA function has been suspended. We recommend using exit-park or remote parking." At this time, control 1601 is unclickable, while controls 1602 and 1603 are clickable. When a user clicks control 1603, the central control screen displays the HMI shown in Figure 41.

[0377] As shown in Figure 41, the vehicle can display a prompt message on the central control screen: "Please shift to P gear, please close the door and remove obstacles when getting off the vehicle."

[0378] Upon detecting that the target parking space is occupied, the vehicle can send a first message to the mobile phone. As shown in FIG42 , in response to receiving this first message, the mobile phone can display prompt message 1801: "System Preparing, Remote Parking Authorized, Parking Space Occupied, Vehicle in P, Doors and Hood Closed." This prompt message can inform the user that remote parking cannot be activated and / or that the user needs to update the status of parking space 305 to vacant.

[0379] Upon detecting that the target parking space has become available, the vehicle can send a second message to the mobile phone. As shown in Figure 43 , in response to receiving this second message, the mobile phone can display a remote parking interface. This interface includes the prompt "Remote parking available. Click the park button to start parking" and a start parking control 1802. Upon detecting that the user has clicked the start parking control 1802, the mobile phone can send a third message to the vehicle. In response to this third message, the vehicle can park in the target parking space.

[0380] FIG44 shows a schematic flow chart of a parking method 1900 provided in an embodiment of the present application. The method 1900 may be executed by a mobile terminal. The method 1900 includes:

[0381] S1910: Receive a first message sent by a vehicle, where the first message indicates that the status of the target parking space is occupied.

[0382] S1920, in response to the first message, controlling the prompting device to prompt that the parking mode cannot be activated, and / or prompting the user to update the status of the target parking space to idle, the parking mode including any one of the following: leaving the vehicle to park in, remote control parking.

[0383] For example, as shown in FIG25 , when the mobile phone receives the first message sent by the vehicle, it can display a prompt message “The parking space is occupied” on the display screen. The prompt message can remind the user that leaving the vehicle and parking cannot be activated, or prompt the user to update the status of the target parking space to free.

[0384] For example, as shown in FIG38 , when the mobile phone receives the first message sent by the vehicle, it can display a prompt message “The parking space is occupied” on the display screen. This prompt message can remind the user that remote parking cannot be activated, or prompt the user to update the status of the target parking space to idle.

[0385] Optionally, the parking mode is remote control parking, and the method 1900 further includes: receiving a second message sent by the vehicle, the second message indicating that the status of the target parking space is idle; in response to the second message, controlling the display device to prompt the user to activate the remote control parking; in response to the user's input to activate the remote control parking, sending a third message to the vehicle, the third message being used to indicate the activation of the remote control parking.

[0386] For example, as shown in FIG39 , upon receiving the second message sent by the vehicle, the mobile phone may display a prompt message “Remote parking available, click the parking button to start parking” and a start parking control 1706. Upon detecting that the user clicks the start parking control 1706, the third message may be sent to the vehicle.

[0387] Optionally, the first message is also used to instruct the vehicle to drive to the vicinity of the target parking space.

[0388] Exemplarily, when the first message indicates that the status of the target parking space is occupied and that the vehicle is traveling near the target parking space, the mobile phone may prompt the user that the exit parking or remote control parking cannot be activated.

[0389] Optionally, before receiving the first message sent by the vehicle, the method 1900 further includes: receiving a fourth message sent by the vehicle, the fourth message indicating that the vehicle is away from the target parking space; in response to the fourth message, controlling the prompt device to prompt the user to activate the remote control parking.

[0390] For example, as shown in FIG7 , the vehicle may send a fourth message to the mobile phone, indicating that the vehicle is moving away from the target parking space. In response to the fourth message, the mobile phone may display a prompt message “Remote parking available, click the parking button to start parking” and a start parking control 403 .

[0391] Optionally, the parking mode is leave-the-vehicle parking, and the method further includes: receiving a fifth message sent by the vehicle, the fifth message indicating that the status of the target parking space is idle; in response to the fifth message, controlling the prompt device to prompt that the leave-the-vehicle parking has been activated.

[0392] For example, as shown in FIG26 , when the status of the target parking space is updated to vacant, the vehicle can activate the pull-in function and send a fifth message to the mobile phone, indicating that the status of the target parking space is vacant. In response to the fifth message, the mobile phone can display a prompt message "The vehicle is parking in the parking space via the pull-in function."

[0393] FIG45 shows a schematic flow chart of a parking method 2000 provided in an embodiment of the present application. As shown in FIG45 , the method 2100 can be executed by a mobile phone and a vehicle. The method 2000 includes:

[0394] Optional, S2001, mobile phone performs system self-check before remote parking.

[0395] Optionally, in S2002, the mobile phone sends an RPA service heartbeat to the finite state machine.

[0396] Optionally, in S2003, the finite state machine sends RPA authorization to the mobile phone.

[0397] S2004: The motion planning module detects that the target parking space is occupied.

[0398] S2005: The motion planning module sends a first message to the mobile phone, where the first message indicates that the status of the target parking space is occupied.

[0399] Exemplarily, when it is determined that the status of the target parking space is occupied, the motion planning module may send the first message to the mobile phone.

[0400] S2006, the mobile phone prompts that the remote parking self-test has failed.

[0401] For example, as shown in FIG38 , when the mobile phone receives the first message, it may prompt that the remote parking self-test has failed. For example, the mobile phone may display “parking space occupied” on its display interface.

[0402] FIG45 above illustrates an example of a vehicle including a motion planning module and a finite state machine. The embodiments of the present application are not limited thereto. For example, the functions implemented by the finite state machine and motion planning module may also be implemented by a unified module or system, such as a parking system or ADAS in the vehicle.

[0403] FIG46 shows a schematic flow chart of a parking method 2100 provided in an embodiment of the present application. As shown in FIG46 , the method 2100 can be executed by a mobile phone and a vehicle. The method 2100 includes:

[0404] S2101: The motion planning module detects that the target parking space is occupied and does not allow activation of parking in or out.

[0405] S2102: The motion planning module sends a first message to the mobile phone, where the first message indicates that the status of the target parking space is occupied.

[0406] S2103, the mobile phone prompts that the target parking space is occupied.

[0407] For example, as shown in FIG25 , the mobile phone may prompt “the parking space is occupied”.

[0408] Optionally, S2104, when the motion planning module detects that the target parking space is idle, it stops sending the first message.

[0409] For example, as shown in FIG26 , upon detecting that the target parking space is vacant, the motion planning module stops sending the first message and sends a second message to the mobile phone, indicating that the target parking space is vacant. In response to the second message, the mobile phone may prompt that the vehicle is parking into the space using the pull-out parking function.

[0410] S2105, motion planning activates leaving the vehicle and parking.

[0411] FIG46 above illustrates an example of a vehicle including a motion planning module and a finite state machine. The embodiments of the present application are not limited thereto. For example, the functions implemented by the finite state machine and motion planning module may also be implemented by a unified module or system, such as a parking system or ADAS in the vehicle.

[0412] FIG47 shows a schematic flow chart of a parking method 2200 provided in an embodiment of the present application. The method 2200 may be executed by various modules in the vehicle. The method 2200 includes:

[0413] Optionally, S2201, the perception module obtains information about parking spaces and obstacles.

[0414] Optionally, the perception module obtains information about parking spaces and obstacles, including: when the vehicle is in the parking lot and the speed of the vehicle is less than or equal to a preset speed, the perception module obtains information about parking spaces and temporary obstacles.

[0415] Exemplarily, the preset speed is 20 km / h.

[0416] Exemplarily, the obstacle may include cones, ground locks, motorcycles, non-motor vehicles (eg, bicycles), other vehicles, etc. located in the parking space.

[0417] Optionally, in S2202, the perception module sends information about parking spaces and obstacles to the motion planning module.

[0418] Optionally, in S2203, the motion planning module sends information about vacant parking spaces and parking spaces occupied by obstacles to the display system.

[0419] Exemplarily, the motion planning module sends the information of parking spaces 303-305 and the information of cone barrels to the display system.

[0420] Optionally, S2204, the display system can display vacant parking spaces and parking spaces occupied by obstacles through the central control screen.

[0421] For example, as shown in FIG21 , the vehicle may display parking spaces 303 to 305 on a display screen, wherein parking spaces 303 and 304 are vacant parking spaces, and parking space 305 is a parking space occupied by an obstacle.

[0422] S2205 , the display system obtains an instruction from the user to click on the parking space occupied by an obstacle.

[0423] For example, as shown in FIG21 , the display system may obtain the user's operation of clicking on the parking space 305 .

[0424] S2206, the display system sends information about parking spaces occupied by obstacles to the motion planning module.

[0425] Optionally, in S2207 , the motion planning module plans a parking path from the starting position of the vehicle to the parking space occupied by the obstacle.

[0426] Exemplarily, as shown in FIG22 , the vehicle may display the parking path.

[0427] Optionally, S2208, the motion planning module sends parking preparation information to the finite state machine.

[0428] Optionally, in S2209, the finite state machine switches the vehicle state to a standby state based on the parking preparation information sent by the motion planning module.

[0429] S2210: The finite state machine indicates to the display system that the parking space is occupied.

[0430] S2211. In response to receiving the instruction, the display system may display on the central control screen that the parking space occupied by the obstacle supports remote parking in or leave-the-vehicle parking in, but does not support APA.

[0431] For example, as shown in FIG22 , the display system can support parking in by leaving the vehicle or parking in by remote control for parking space 305 through the central control screen display (control 1302 and control 1303 can be clicked), and does not support APA (control 1301 cannot be clicked).

[0432] S2212, the display system obtains the user's instruction to select remote parking or exit parking.

[0433] For example, as shown in FIG22 , when the display system detects that the user clicks the control 1302 , it obtains the user's instruction to leave the vehicle and park.

[0434] S2213: The display system prompts the user through the central control screen to shift into P gear, get out of the vehicle, close the door, and remove the temporary obstacle.

[0435] For example, as shown in FIG23 , when detecting that the user clicks on the control 1302 , the display system may display a prompt message on the central control screen: “Please shift to P gear, close the door and remove obstacles in the parking space when getting off the car.”

[0436] FIG47 above illustrates an example of a vehicle comprising a perception module, a motion planning module, and a finite state machine. The embodiments of the present application are not limited thereto. For example, the functions implemented by the perception module, motion planning module, and finite state machine may also be implemented by a unified module or system, such as a parking system or ADAS in the vehicle.

[0437] Figure 48 shows a schematic block diagram of a parking device 2300 provided in an embodiment of the present application. The device 2300 includes: a determination unit 2310 for determining a target parking space, where the target parking space is occupied; a determination unit 2310 for determining a parking mode, where the parking mode includes a leave-and-park mode; and a control unit 2320 for controlling a vehicle to park into the target parking space using the leave-and-park mode in response to the target parking space being vacant.

[0438] Optionally, the control unit 2320 is specifically used to: in response to the determination unit determining the parking mode, the status of the target parking space is occupied, control the vehicle to output a first prompt message, the first prompt message indicating that the leave-parking function cannot be activated and / or indicating that the user needs to update the status of the target parking space to idle; in response to the status of the target parking space being updated to idle, control the vehicle to park in the target parking space.

[0439] Optionally, the control unit 2320 is specifically used to: in response to the determination unit determining the parking mode, the status of the target parking space is occupied, control the vehicle to travel from the starting position to the vicinity of the target parking space and then brake to stop; in response to the status of the target parking space being updated to idle, control the vehicle to park in the target parking space.

[0440] Optionally, the control unit 2320 is also used to: control the vehicle to output a second prompt message, the second prompt message is used to indicate that the user needs to update the status of the target parking space to idle, and the output method of the second prompt message includes at least one of the following: flashing lights, sound, and pushing prompt information to the mobile terminal.

[0441] Optionally, the device 2300 also includes: a receiving unit, used to receive an instruction from the user before the determination unit determines the parking mode, wherein the instruction instructs the user to activate parking; the control unit 2320 is also used to control the vehicle to travel from the starting position to the vicinity of the target parking space and then brake to a stop in response to the received instruction.

[0442] In one embodiment, the determination unit 2310 is used to determine a target parking space, where the status of the target parking space is occupied; the determination unit is also used to determine a parking mode 2310, where the parking mode includes remote control parking; and the control unit 2320 is used to control the vehicle to park in the target parking space using the remote control parking in response to the status of the target parking space being idle.

[0443] Optionally, the control unit 2320 is specifically used to: in response to the determination unit determining the parking mode, the status of the target parking space is occupied, control the vehicle to output a first prompt message, the first prompt message indicating that the remote parking cannot be activated or indicating that the user needs to update the status of the target parking space to idle; in response to the status of the target parking space being updated to idle, control the vehicle to park in the target parking space.

[0444] Optionally, the control unit 2320 is specifically used to: send a first message to the mobile terminal, the first message indicating that the status of the target parking space is occupied, and the mobile terminal is used to prompt that the remote parking cannot be activated and / or prompt the user to update the status of the target parking space to idle.

[0445] Optionally, the control unit 2320 is specifically used to: in response to receiving an instruction sent by the mobile terminal, which is used by the user to activate the remote parking on the mobile terminal, and the status of the target parking space is occupied, control the vehicle to travel from the starting position to the vicinity of the target parking space and then brake to stop; in response to the status of the target parking space being updated to idle, control the vehicle to park in the target parking space.

[0446] Optionally, the device 2300 also includes: a receiving unit, configured to receive another instruction from the user before the determination unit determines the parking mode, the other instruction instructing the user to activate parking; in response to the received other instruction, controlling the vehicle to travel from the starting position to the vicinity of the target parking space and then brake to a stop.

[0447] Figure 49 shows a schematic block diagram of a parking device 2400 provided in an embodiment of the present application. Device 2400 includes: a receiving unit 2410 for receiving a first message sent by a vehicle, the first message indicating that the target parking space is occupied; and a control unit 2420 for, in response to the first message, controlling a prompting device to indicate that a parking mode cannot be activated and / or to prompt a user to update the status of the target parking space to vacant. The parking mode includes any of the following: leave-and-park and remote parking.

[0448] Optionally, the parking mode is remote control parking, and the receiving unit 2410 is further used to receive a second message sent by the vehicle, where the second message indicates that the status of the target parking space is idle; the control unit 2420 is further used to control the display device to prompt the user to activate the remote control parking in response to the second message; wherein the device 2400 also includes: a sending unit, which is used to send a third message to the vehicle in response to the user's input to activate the remote control parking, where the third message is used to indicate the activation of the remote control parking.

[0449] Optionally, the first message is also used to instruct the vehicle to drive to the vicinity of the target parking space.

[0450] Optionally, the receiving unit 2410 is further used to receive a third message sent by the vehicle before receiving the first message, and the third message indicates that the vehicle is away from the target parking space; the control unit 2420 is also used to control the prompt device to prompt the user to activate the remote parking in response to the third message.

[0451] Optionally, the parking mode is leave-the-vehicle parking, and the receiving unit 2410 is further used to receive a fourth message sent by the vehicle, where the fourth message indicates that the status of the target parking space is idle; the control unit 2420 is further used to control the prompt device to prompt that leave-the-vehicle parking has been activated in response to the fourth message.

[0452] An embodiment of the present application further provides a parking system, which may include sensors and a computing platform, and the computing platform includes the above-mentioned device 1000 or device 2300.

[0453] An embodiment of the present application further provides a vehicle, which may include the above-mentioned parking device 1000 or device 2300.

[0454] The present application also provides a mobile terminal that may include the parking device 1100 or the device 2400 described above. It should be understood that the division of the various units in the above devices is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a single physical entity, or physically separated. Furthermore, the units in the device may be implemented in the form of a processor invoking software; for example, the device includes a processor connected to a memory storing instructions, and the processor invokes the instructions stored in the memory to implement any of the above methods or the functions of the various units in the device. The processor may be a general-purpose processor, such as a CPU or a microprocessor, and the memory may be internal or external to the device. Alternatively, the units in the device may be implemented in the form of hardware circuits, and the functions of some or all of the units may be implemented through the design of the hardware circuits. The hardware circuits may be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units may be implemented through the design of the logical relationships between the components within the circuits. In another implementation, the hardware circuit may be implemented using a PLD, such as an FPGA, which may include a large number of logic gates. The connections between the logic gates are configured using a configuration file to implement the functions of some or all of the above units. All units of the above apparatus may be implemented entirely in the form of software called by a processor, or entirely in the form of hardware circuits, or partially in the form of software called by a processor and the rest in the form of hardware circuits.

[0455] In an embodiment of the present application, a processor is a circuit with the ability to process signals. In one implementation, the processor may be a circuit with the ability to read and execute instructions, such as a CPU, a microprocessor, a GPU, or a DSP. In another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit may be fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the configuration of the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, DPU, etc.

[0456] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0457] In addition, the various units in the above apparatus may be fully or partially integrated together, or may be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the various units of the apparatus. The at least one processor may be of different types, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0458] An embodiment of the present application also provides a device, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit so that the device executes the method or steps performed by the above embodiment.

[0459] Optionally, if the device is located in a vehicle, the processing unit may be the processors 121 - 12n shown in FIG. 1 .

[0460] An embodiment of the present application further provides a parking system, which may include the above-mentioned vehicle and mobile terminal, or include the above-mentioned apparatus 1000 and apparatus 1100 .

[0461] An embodiment of the present application further provides a vehicle, which may include the above-mentioned parking device 1000.

[0462] An embodiment of the present application further provides a mobile terminal, which may include the above-mentioned parking device 1100.

[0463] An embodiment of the present application further provides a computer program product, which includes: computer program code, which enables the computer to execute the method in the above embodiment when the computer program code is run on a computer.

[0464] An embodiment of the present application further provides a computer-readable medium, wherein the computer-readable medium stores a program code. When the computer program code is run on a computer, the computer executes the method in the above embodiment.

[0465] An embodiment of the present application further provides a chip, which includes a circuit, and the circuit is used to execute the method in the above embodiment.

[0466] During implementation, each step of the above method can be completed by an integrated logic circuit of the hardware in the processor or by instructions in the form of software. The method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or a power-on erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.

[0467] It should be understood that in the embodiment of the present application, the memory may include a read-only memory and a random access memory, and provide instructions and data to the processor.

[0468] It should also be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0469] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0470] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0471] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0472] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0473] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0474] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0475] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be covered and fall within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A parking method, characterized in that: include: receiving a first instruction from a user, the first instruction instructing the vehicle to park in a target parking space using a remote parking assist (RPA) function, where a temporary obstacle is placed; In response to receiving the first instruction, sending a second instruction to the mobile terminal and controlling the prompting device to prompt the user to get out of the vehicle and remove the temporary obstacle, wherein the second instruction is used to instruct the user to park in the target parking space through the RPA function; When it is detected that the user gets off the vehicle and a third instruction sent by the mobile terminal is received, the vehicle is controlled to park in the target parking space, where the third instruction is used to instruct the vehicle to park in the target parking space.

2. The method according to claim 1, characterized in that Before receiving the first instruction from the user, the method further includes: Acquire information of one or more parking spaces, wherein the one or more parking spaces include the target parking space; Upon receiving the fourth instruction from the user, the prompt device is controlled to prompt that a temporary obstacle is placed on the target parking space and only the RPA function is supported for the target parking space. The fourth instruction is an instruction for the user to select the target parking space.

3. The method according to claim 1 or 2, characterized in that The method further comprises: When the distance between the vehicle and the temporary obstacle is less than or equal to a preset distance, the vehicle is controlled to stop parking in the target parking space and a fifth instruction is sent to the mobile terminal, where the fifth instruction is used to instruct the mobile terminal to prompt the user to remove the temporary obstacle.

4. The method according to claim 3, characterized in that The method further comprises: When it is detected that the user has removed the temporary obstacle within a first preset time period, the vehicle is controlled to continue parking in the target parking space.

5. The method according to claim 3, characterized in that The method further comprises: When it is not detected that the user has removed the temporary obstacle within a first preset time period, a sixth instruction is sent to the mobile terminal, where the sixth instruction indicates that the temporary obstacle has not been removed within the first preset time period.

6. The method according to claim 5, characterized in that The method further comprises: When the seventh instruction sent by the mobile terminal is received and it is detected that the temporary obstacle has been removed, the vehicle is controlled to continue parking in the target parking space, and the seventh instruction is used to instruct the restoration of the RPA function.

7. A parking method, characterized in that: include: receiving a second instruction sent by the vehicle, the second instruction being used to instruct the vehicle to park in a target parking space through the RPA function, the target parking space being a parking space identified by the vehicle and having a temporary obstacle placed therein; According to the second instruction, controlling the display device to display a first interface, where the first interface includes a first control, and the first control is a control for enabling the RPA function; When a first input of the user to the first control is obtained, a third instruction is sent to the vehicle, where the third instruction is used to instruct the vehicle to start parking in the target parking space.

8. The method according to claim 7, characterized in that The method further comprises: When a first input from a user to the first control is obtained, controlling the display device to switch from displaying the first interface to displaying a second interface, where the second interface is a display interface of the vehicle parking in the target parking space; receiving a fifth instruction sent by the vehicle, wherein the fifth instruction is used to instruct the mobile terminal to prompt the user to remove the temporary obstacle; According to the fifth instruction, the display device is controlled to switch from displaying the second interface to displaying the third interface, where the third interface includes first prompt information, and the first prompt information is used to prompt the user to remove the temporary obstacle.

9. The method according to claim 8, characterized in that The method further comprises: receiving a sixth instruction sent by the vehicle, the sixth instruction indicating that the temporary obstacle has not been removed within a first preset time period; According to the sixth instruction, the display device is controlled to switch from displaying the third interface to displaying the fourth interface, where the fourth interface includes second prompt information, and the second prompt information is used to prompt that the RPA function has been suspended.

10. The method according to claim 9, characterized in that The fourth interface further includes a second control, where the second control is a control for resuming the automatic parking function. The method further includes: When a second input of the user to the second control is obtained, a seventh instruction is sent to the vehicle, where the seventh instruction is used to instruct the restoration of the RPA function.

11. A parking device, characterized in that: include: a receiving unit, configured to receive a first instruction from a user, wherein the first instruction instructs the vehicle to park in a target parking space using a remote parking assistance (RPA) function, where a temporary obstacle is placed; a sending unit, configured to, in response to receiving the first instruction, send a second instruction to the mobile terminal and control a prompting device to prompt a user to get out of the vehicle and remove the temporary obstacle, wherein the second instruction is used to instruct the user to park in a target parking space using the RPA function; The control unit is configured to control the vehicle to park in the target parking space when detecting that the user has gotten off the vehicle and receiving a third instruction sent by the mobile terminal, wherein the third instruction is used to instruct the vehicle to park in the target parking space.

12. The device according to claim 11, characterized in that The device further comprises: an acquiring unit, configured to acquire information of one or more parking spaces before the receiving unit receives the first instruction from the user, the one or more parking spaces including the target parking space; The control unit is further configured to control the prompt device to prompt that a temporary obstacle is placed on the target parking space and that only the RPA function is supported for the target parking space when the receiving unit receives a fourth instruction from the user, and the fourth instruction is an instruction for the user to select the target parking space.

13. The device according to claim 11 or 12, characterized in that The control unit is further configured to control the vehicle to stop parking in the target parking space and send a fifth instruction to the mobile terminal when the distance between the vehicle and the temporary obstacle is less than or equal to a preset distance. The fifth instruction is configured to instruct the mobile terminal to prompt the user to remove the temporary obstacle.

14. The device according to claim 13, characterized in that The control unit is further configured to control the vehicle to continue parking in the target parking space when it is detected that the user has removed the temporary obstacle within a first preset time period.

15. The device according to claim 13, characterized in that The sending unit is further configured to send a sixth instruction to the mobile terminal when the control unit does not detect that the user has removed the temporary obstacle within a first preset time period, wherein the sixth instruction indicates that the temporary obstacle has not been removed within the first preset time period.

16. The device according to claim 15, characterized in that The control unit is further configured to control the vehicle to continue parking in the target parking space when the receiving unit receives the seventh instruction sent by the mobile terminal and detects that the temporary obstacle has been removed, and the seventh instruction is used to instruct the restoration of the RPA function.

17. A parking device, characterized in that: include: a receiving unit, configured to receive a second instruction sent by the vehicle, the second instruction being used to instruct the vehicle to park in a target parking space through the RPA function, the target parking space being a parking space identified by the vehicle and having a temporary obstacle placed therein; a control unit, configured to control a display device to display a first interface according to the second instruction, where the first interface includes a first control, and the first control is a control for enabling the RPA function; A sending unit is configured to send a third instruction to the vehicle when the acquiring unit acquires the first input of the user for the first control, wherein the third instruction is used to instruct the vehicle to start parking in the target parking space.

18. The device according to claim 17, characterized in that The control unit is further configured to control the display device to switch from displaying the first interface to displaying a second interface when the acquisition unit acquires a first input from the user to the first control, where the second interface is a display interface for the vehicle parking in the target parking space; The receiving unit is further configured to receive a fifth instruction sent by the vehicle, wherein the fifth instruction is configured to instruct the mobile terminal to prompt the user to remove the temporary obstacle; The control unit is further used to control the display device to switch from displaying the second interface to displaying the third interface according to the fifth instruction, and the third interface includes a first prompt information, and the first prompt information is used to prompt the user to remove the temporary obstacle.

19. The device according to claim 18, characterized in that The receiving unit is further configured to receive a sixth instruction sent by the vehicle, wherein the sixth instruction indicates that the temporary obstacle has not been removed within a first preset time period; The control unit is further used to control the display device to switch from displaying the third interface to displaying the fourth interface according to the sixth instruction, where the fourth interface includes second prompt information, and the second prompt information is used to prompt that the RPA function has been suspended.

20. The device according to claim 19, characterized in that The fourth interface also includes a second control, which is a control for resuming the automatic parking function. The sending unit is further configured to send a seventh instruction to the vehicle when the acquiring unit acquires the second input of the user for the second control, where the seventh instruction is used to instruct restoration of the RPA function.

21. A parking device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute the computer program stored in the memory, so that the apparatus performs the method according to any one of claims 1 to 6.

22. A parking device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute the computer program stored in the memory, so that the apparatus performs the method according to any one of claims 7 to 10.

23. A vehicle, characterized in that: Comprising the device according to any one of claims 11 to 16 and 21.

24. A mobile terminal, characterized in that: Comprising the device according to any one of claims 17 to 20 and 22.

25. A computer-readable storage medium, characterized in that Instructions are stored thereon, and when the instructions are executed by a processor, the processor implements the method according to any one of claims 1 to 6, or implements the method according to any one of claims 7 to 10.

26. A computer program product, characterized in that The computer program product comprises a computer program code, and when the computer program code is run on a computer, the computer is enabled to implement the method according to any one of claims 1 to 6, or the method according to any one of claims 7 to 10.

27. A chip, characterized in that: The chip includes a circuit, and the circuit is used to execute the method according to any one of claims 1 to 6, or to implement the method according to any one of claims 7 to 10.

28. A parking method, characterized in that: include: Determine a target parking space, where the target parking space is in an occupied state; determining a parking mode, wherein the parking mode includes leaving the vehicle and parking in; In response to the target parking space being idle, the vehicle is controlled to park in the target parking space by performing the exiting maneuver.

29. The method according to claim 28, characterized in that In response to the target parking space being idle, controlling the vehicle to park in the target parking space by leaving the vehicle includes: In response to determining that the parking mode and the status of the target parking space are occupied, controlling the vehicle to output a first prompt message indicating that the parking exit cannot be activated and / or indicating that the user needs to update the status of the target parking space to vacant; In response to the status of the target parking space being updated to vacant, the vehicle is controlled to park in the target parking space.

30. The method according to claim 28, wherein In response to the target parking space being idle, controlling the vehicle to park in the target parking space by leaving the vehicle includes: In response to determining the parking mode and the target parking space being occupied, controlling the vehicle to travel from a starting position to a position near the target parking space and then braking to a stop; In response to the status of the target parking space being updated to vacant, the vehicle is controlled to park in the target parking space.

31. The method according to claim 30, wherein The determining of the parking mode, the target parking space being occupied, and the vehicle braking to a stop after traveling from a starting position to a position near the target parking space further includes: The vehicle is controlled to output a second prompt message, where the second prompt message is used to indicate to the user that the status of the target parking space needs to be updated to free, and the output method of the second prompt message includes at least one of the following: flashing lights, sound, and pushing prompt information to a mobile terminal.

32. The method according to any one of claims 28 to 31, characterized in that Before determining the parking mode, the method further includes: receiving a user instruction, the instruction instructing the user to activate parking; In response to the received instruction, the vehicle is controlled to travel from a starting position to the vicinity of the target parking space and then brake to a stop.

33. A parking method, characterized in that: include: Determine a target parking space, where the target parking space is in an occupied state; determining a parking mode, wherein the parking mode includes remote controlled parking; In response to the target parking space being idle, the vehicle is controlled to park in the target parking space by the remote control parking method.

34. The method according to claim 33, wherein In response to the target parking space being idle, controlling the vehicle to park in the target parking space by remote parking includes: In response to determining that the parking mode is such that the target parking space is occupied, controlling the vehicle to output a first prompt message indicating that the remote parking function cannot be activated or indicating that the user needs to update the status of the target parking space to vacant; In response to the status of the target parking space being updated to vacant, the vehicle is controlled to park in the target parking space.

35. The method according to claim 34, wherein The controlling the vehicle to output the first prompt information includes: A first message is sent to the mobile terminal, where the first message indicates that the status of the target parking space is occupied, and the mobile terminal is used to prompt that the remote parking cannot be activated and / or prompt the user to update the status of the target parking space to free.

36. The method according to claim 33, wherein In response to the target parking space being idle, controlling the vehicle to park in the target parking space by remote parking includes: In response to receiving a command sent by a mobile terminal, the command being for a user to activate the remote parking control on the mobile terminal, the target parking space being in an occupied state, and controlling the vehicle to travel from a starting position to a position near the target parking space and then brake to a stop; In response to the status of the target parking space being updated to vacant, the vehicle is controlled to park in the target parking space.

37. The method according to any one of claims 33 to 36, wherein: Before receiving the second instruction from the user, the method further includes: receiving another instruction from the user, the other instruction instructing the user to activate parking; In response to the received another instruction, the vehicle is controlled to travel from a starting position to the vicinity of the target parking space and then brake to a stop.

38. A parking method, characterized in that: include: receiving a first message sent by a vehicle, wherein the first message indicates that a status of a target parking space is occupied; In response to the first message, the control prompt device prompts that the parking mode cannot be activated, and / or prompts the user to update the status of the target parking space to idle, and the parking mode includes any one of the following: leave the vehicle and park in, remote control parking.

39. The method according to claim 38, characterized in that The parking mode is remote control parking, and the method further includes: receiving a second message sent by the vehicle, wherein the second message indicates that the status of the target parking space is vacant; In response to the second message, controlling the display device to prompt the user to activate the remote controlled parking; In response to the user input activating the remote control parking, a third message is sent to the vehicle, the third message indicating activation of the remote control parking.

40. The method according to claim 38 or 39, characterized in that The first message is further used to instruct the vehicle to drive to the vicinity of the target parking space.

41. The method according to any one of claims 38 to 40, characterized in that Before receiving the first message sent by the vehicle, the method further includes: receiving a fourth message sent by the vehicle, wherein the fourth message indicates that the vehicle is moving away from the target parking space; In response to the fourth message, the control prompting device prompts the user to activate the remote control parking.

42. The method according to claim 38, wherein The parking mode is leaving the vehicle and parking in, and the method further includes: receiving a fifth message sent by the vehicle, wherein the fifth message indicates that the status of the target parking space is vacant; In response to the fifth message, the control prompting device prompts that the parking exit function has been activated.

43. A parking device, characterized in that: include: a determining unit, configured to determine a target parking space, wherein the state of the target parking space is occupied; The determining unit is further configured to determine a parking mode, wherein the parking mode includes leaving the vehicle and parking in; The control unit is configured to control the vehicle to park in the target parking space by the vehicle leaving method in response to the target parking space being idle.

44. The device according to claim 43, characterized in that The control unit is specifically used for: In response to the determination unit determining that the parking mode is such that the target parking space is occupied, controlling the vehicle to output a first prompt message indicating that the parking-in / out mode cannot be activated and / or indicating that the user needs to update the status of the target parking space to vacant; In response to the status of the target parking space being updated to vacant, the vehicle is controlled to park in the target parking space.

45. The device according to claim 43, characterized in that The control unit is specifically used for: In response to the determination unit determining the parking mode and the target parking space being occupied, controlling the vehicle to travel from a starting position to a position near the target parking space and then braking to a stop; In response to the status of the target parking space being updated to vacant, the vehicle is controlled to park in the target parking space.

46. ​​The device according to claim 45, characterized in that The control unit is further configured to: The vehicle is controlled to output a second prompt message, where the second prompt message is used to indicate to the user that the status of the target parking space needs to be updated to free, and the output method of the second prompt message includes at least one of the following: flashing lights, sound, and pushing prompt information to a mobile terminal.

47. The device according to any one of claims 43 to 46, characterized in that The device further comprises: a receiving unit, configured to receive a user instruction before the determining unit determines the parking mode, the instruction instructing the user to activate parking; The control unit is further configured to control the vehicle to travel from a starting position to the vicinity of the target parking space and then brake to a stop in response to the received instruction.

48. A parking device, characterized in that: include: a determining unit, configured to determine a target parking space, wherein the state of the target parking space is occupied; The determining unit is further configured to determine a parking mode, wherein the parking mode includes remote control parking; The control unit is configured to control the vehicle to park in the target parking space by remote control parking in response to the target parking space being idle.

49. The device according to claim 48, characterized in that The control unit is specifically used for: In response to the determining unit determining that the parking mode is such that the target parking space is occupied, controlling the vehicle to output a first prompt message indicating that the remote parking function cannot be activated or indicating that the user needs to update the status of the target parking space to vacant; In response to the status of the target parking space being updated to vacant, the vehicle is controlled to park in the target parking space.

50. The device according to claim 49, characterized in that The control unit is specifically used for: A first message is sent to the mobile terminal, where the first message indicates that the status of the target parking space is occupied, and the mobile terminal is used to prompt that the remote parking cannot be activated and / or prompt the user to update the status of the target parking space to free.

51. The device according to claim 48, characterized in that The control unit is specifically used for: In response to receiving a command sent by a mobile terminal, the command is for a user to activate the remote parking control on the mobile terminal, the target parking space is in an occupied state, and the vehicle is controlled to travel from a starting position to a position near the target parking space and then brake to a stop; In response to the status of the target parking space being updated to vacant, the vehicle is controlled to park in the target parking space.

52. The device according to any one of claims 48 to 51, characterized in that The device further comprises: a receiving unit, configured to receive another instruction from a user before the determining unit determines the parking mode, the another instruction instructing the user to activate parking; In response to the received another instruction, the vehicle is controlled to travel from a starting position to the vicinity of the target parking space and then brake to a stop.

53. A parking device, characterized in that: include: a receiving unit, configured to receive a first message sent by a vehicle, wherein the first message indicates that a status of a target parking space is occupied; The control unit is configured to, in response to the first message, control the prompting device to prompt that the parking mode cannot be activated, and / or prompt the user to update the status of the target parking space to idle, wherein the parking mode includes any one of the following: leaving the vehicle to park in, and remote control parking.

54. The device according to claim 53, characterized in that The parking mode is remote control parking. The receiving unit is further configured to receive a second message sent by the vehicle, wherein the second message indicates that the status of the target parking space is idle; The control unit is further configured to control the display device to prompt the user to activate the remote controlled parking in response to the second message; Wherein, the device further includes: A sending unit is configured to send a third message to the vehicle in response to the user input of activating the remote control parking, wherein the third message is used to indicate activation of the remote control parking.

55. The device according to claim 53 or 54, characterized in that The first message is further used to instruct the vehicle to drive to the vicinity of the target parking space.

56. The device according to any one of claims 53 to 55, characterized in that The receiving unit is further configured to receive a fourth message sent by the vehicle before receiving the first message, wherein the fourth message indicates that the vehicle is away from the target parking space; The control unit is further configured to control a prompting device to prompt a user to activate the remote controlled parking in response to the fourth message.

57. The device according to claim 53, characterized in that The parking mode is leaving the car and parking in. The receiving unit is further configured to receive a fifth message sent by the vehicle, wherein the fifth message indicates that the status of the target parking space is idle; The control unit is further configured to control a prompting device to prompt that the leaving vehicle and parking function has been activated in response to the fifth message.

58. A parking device, characterized in that: include: memory for storing computer programs; A processor, configured to execute the computer program stored in the memory, so that the apparatus performs the method according to any one of claims 28 to 37.

59. A parking device, characterized in that: include: memory for storing computer programs; A processor, configured to execute the computer program stored in the memory, so that the apparatus performs the method according to any one of claims 38 to 42.

60. A vehicle, characterized in that: Comprising a device as claimed in any one of claims 43 to 52 and 58.

61. A mobile terminal, characterized in that: Comprising the device as described in any one of claims 53 to 57 and 59.

62. A computer-readable storage medium, characterized in that Instructions are stored thereon, and when the instructions are executed by a processor, the processor implements the method according to any one of claims 28 to 37, or implements the method according to any one of claims 38 to 42.

63. A computer program product, characterized in that The computer program product comprises a computer program code, and when the computer program code is run on a computer, the computer is caused to implement the method according to any one of claims 28 to 37, or the method according to any one of claims 38 to 42.

64. A chip, characterized in that The chip includes a circuit, and the circuit is used to perform the method according to any one of claims 28 to 37, or to implement the method according to any one of claims 38 to 42.

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