Parking method, mobile device, vehicle and computer-readable storage medium

Abstract

The present application relates to the technical field of automatic parking. Particularly provided are a parking method, a mobile device, a vehicle and a computer-readable storage medium, which aim to solve the problem of conveniently and safely controlling automatic parking of vehicles. The method applicable to a mobile device provided by the present application comprises: receiving a first notification sent by a vehicle, the first notification being sent after the vehicle has determined that the vehicle itself is in a parking scenario; on the basis of a first distance and vehicle body status data in the first notification, determining whether the user of the mobile device has a parking intention; receiving a second notification sent by the vehicle, the second notification being sent by the vehicle to the mobile device after the mobile device has determined that the user has the parking intention; and if a second distance in the second notification is within a preset threshold range, sending a third notification to the vehicle, the third notification being used for the vehicle to start automatic parking, and the first and second distances being distances between the vehicle and the mobile device. Without the need of manual operation of users, the present method can implement contactless parking, and can ensure user safety.

Description

Parking method, mobile device, vehicle, and computer-readable storage medium

[0001] This application claims priority to Chinese patent application No. 202410381861.2 filed on March 29, 2024, with the invention name “Parking method, mobile device, vehicle and computer-readable storage medium”. The entire contents of the above Chinese patent application are incorporated into this application by reference. Technical Field

[0002] The present application relates to the technical field of automatic parking, and in particular to a parking method, a mobile device, a vehicle, and a computer-readable storage medium. Background Art

[0003] With the development of autonomous driving technology, more and more automakers are offering automated parking assistance features, greatly facilitating parking operations. However, current automated parking methods still suffer from operational inconvenience and low safety. The following describes three common automated parking methods.

[0004] The first method involves the user interacting with the vehicle to enable automatic parking. After completing all interactions, the vehicle automatically plans a driving route and parks in the parking space accordingly. This requirement for interaction with the vehicle reduces the convenience of automatic parking. Furthermore, the user cannot exit the vehicle during the automatic parking process. If there are obstacles near the parking space, the space left for the user to exit the vehicle after parking is limited, potentially preventing the user from exiting.

[0005] The second method is for the user to establish a communication connection with the vehicle after getting out of the car, and then use the phone to remotely control the vehicle to park automatically. In this process, establishing a communication connection with the vehicle and remotely controlling the vehicle to park automatically require manual operation, which also reduces the convenience of automatic parking.

[0006] The third method is to set up a UWB (Ultra Wide Band) digital key for the vehicle, and the vehicle uses UWB communication technology to locate the UWB digital key. Since the UWB digital key is usually carried by the user, the position of the UWB digital key can also indicate the user's position. When the position of the UWB digital key reaches the preset position (or the distance between the UWB digital key and the vehicle reaches the preset value), it means that the user is away from the vehicle and the vehicle starts to park automatically. Although this method simplifies the user's manual operation, it is completely dependent on the position of the UWB digital key. It determines whether the user is away from the vehicle based on the position. The user being away from the vehicle cannot accurately indicate that the user wants to park automatically (or the user has the intention to park). Therefore, this method is likely to violate the user's intention, mistakenly start the automatic parking, and reduce the safety of parking.

[0007] Accordingly, this field requires a new technical solution to solve the above problems. Summary of the Invention

[0008] In order to overcome the above-mentioned defects, the present application is proposed to solve or at least partially solve the technical problem of how to conveniently and safely control the automatic parking of a vehicle.

[0009] In a first aspect, a parking method is provided, which is applied to a mobile device, and the method comprises:

[0010] receiving a first notification sent by a vehicle, the first notification including first ranging data detected by the vehicle and vehicle body status data, the first notification being sent by the vehicle to the mobile device after the vehicle identifies itself as being in a parking scenario, the parking scenario being identified by the vehicle based on environmental information of its environment, and the first ranging data including a first distance between the vehicle and the mobile device;

[0011] determining, based on the first distance and the vehicle state data, whether the user of the mobile device has parking intention;

[0012] receiving a second notification sent by the vehicle, the second notification including second ranging data detected by the vehicle, the second notification being sent by the vehicle to the mobile device after the mobile device determines that the user intends to park, the second ranging data including a second distance between the vehicle and the mobile device;

[0013] If the second distance is within a preset threshold range, a third notification is sent to the vehicle, where the third notification is used for the vehicle to start automatic parking.

[0014] In one technical solution of the above parking method, the vehicle state data includes door state data, and determining whether the user of the mobile device has parking intention based on the first distance and the vehicle state data includes:

[0015] determining, based on the first distance, whether the user has gotten off the vehicle;

[0016] If the user gets off the vehicle, determining whether the vehicle door is closed based on the door status data;

[0017] If the door of the vehicle is closed, it is determined that the user intends to park the vehicle.

[0018] In one technical solution of the above parking method, the method further includes:

[0019] After determining that the user has gotten off the vehicle, if the vehicle door is closed and communication between the vehicle and the mobile device is normal, it is determined that the user has an intention to park the vehicle.

[0020] In one technical solution of the above parking method, determining whether the user has gotten off the vehicle based on the first distance includes:

[0021] determining, based on the first distance, whether the device position of the mobile device has switched from inside the vehicle to outside the vehicle;

[0022] If the device position is switched from inside the vehicle to outside the vehicle, and it is detected that the seat occupancy signal of the vehicle is lost, it is determined that the user has gotten off the vehicle.

[0023] In one technical solution of the above parking method, the vehicle is provided with a plurality of UWB nodes, the UWB nodes being used to perform UWB ranging with the mobile device to obtain a ranging distance between the UWB nodes and the mobile device, the second distance including the ranging distance obtained by each of the UWB nodes, and the method further comprising:

[0024] With the position of each UWB node as the center of the circle and the ranging distance obtained by each UWB node as the radius, a circular area corresponding to each UWB node is formed;

[0025] Obtaining intersection points of circular areas corresponding to all UWB nodes, and obtaining a user position of the user relative to the vehicle based on positions of the intersection points;

[0026] If the user location is within the preset threshold range, the third notification is sent to the vehicle.

[0027] In one technical solution of the above parking method, the mobile device is provided with a proximity sensor, and the sending of the third notification to the vehicle includes:

[0028] Acquiring distance data collected by the short-range sensor;

[0029] determining, based on the distance data, whether the mobile device is being used by a user;

[0030] If the mobile device is used by the user, the third notification is sent to the vehicle.

[0031] In one technical solution of the above parking method, after the vehicle starts automatic parking, the method further includes:

[0032] receiving parking data sent by the vehicle, the parking data including a parking path, obstacle information, and parking progress during the automatic parking process of the vehicle;

[0033] In response to a display operation by a user, the parking data selected by the display operation is displayed.

[0034] In one technical solution of the above parking method, after the vehicle starts automatic parking, the method further includes:

[0035] In response to a pause operation by a user, sending a pause parking instruction to the vehicle, wherein the pause parking instruction is used to control the vehicle to pause automatic parking;

[0036] and / or, receiving a fourth notification sent by the vehicle, the fourth notification including third ranging data detected by the vehicle, the fourth notification being sent by the vehicle to the mobile device after starting automatic parking, the third ranging data including a third distance between the vehicle and the mobile device;

[0037] If the third distance is not within the preset threshold range, the pause parking instruction is sent to the vehicle.

[0038] In one technical solution of the above parking method, after the vehicle starts automatic parking, the method further includes:

[0039] In response to an exit operation by a user, sending a stop parking instruction to the vehicle, wherein the stop parking instruction is used to control the vehicle to stop automatic parking;

[0040] And / or, in response to a communication anomaly between the vehicle and the mobile device, sending the stop parking instruction to the vehicle.

[0041] In one technical solution of the above parking method, the mobile device establishes communication with the vehicle in the following manner:

[0042] Receiving a Bluetooth signal broadcast by the vehicle, the Bluetooth signal including a Bluetooth UUID, the Bluetooth UUID including a UWB character, the character value of the UWB character being used to indicate whether the vehicle can perform UWB ranging;

[0043] Parsing the Bluetooth signal to obtain a character value of the UWB character in the Bluetooth signal;

[0044] Determining whether the vehicle can perform UWB ranging according to the parsed character value;

[0045] If the vehicle is capable of UWB ranging, sending a Bluetooth connection request to the vehicle, so that the vehicle establishes a Bluetooth connection with the mobile device according to the Bluetooth connection request;

[0046] The Bluetooth connection is used to authenticate the identity of the vehicle and establish an encrypted Bluetooth communication channel.

[0047] In a second aspect, a parking method is provided, applied to a vehicle, the method comprising:

[0048] identifying whether the vehicle is in a parking scenario based on environmental information of the vehicle's environment;

[0049] If the vehicle is in a parking scenario, a first notification is sent to a mobile device, where the first notification includes first distance measurement data detected by the vehicle and vehicle body status data of the vehicle, where the first distance measurement data includes a first distance between the vehicle and the mobile device, and the first distance measurement data and the vehicle body status data are used by the mobile device to determine whether the user intends to park.

[0050] If the mobile device determines that the user intends to park, a second notification is sent to the mobile device, where the second notification includes second distance measurement data detected by the vehicle, where the second distance measurement data includes a second distance between the vehicle and the mobile device, and the second distance measurement data is used by the mobile device to determine whether the second distance is within a preset threshold range;

[0051] A third notification sent by the mobile device is received, and automatic parking is started according to the third notification, wherein the third notification is sent by the mobile device to the vehicle when the second distance is within the preset threshold range.

[0052] In one technical solution of the above parking method, the vehicle is provided with a sensor, the environmental information includes environmental data collected by the sensor, and identifying whether the vehicle is in a parking scenario based on the environmental information of the vehicle's environment includes:

[0053] In response to the vehicle entering the parking lot, performing parking space recognition on the environmental data;

[0054] If it is identified that there is an available parking space for the vehicle in the parking lot, it is determined that the vehicle is in a parking scene.

[0055] In one technical solution of the above parking method, after starting automatic parking, the method further includes:

[0056] pausing automatic parking in response to a pause parking instruction from the mobile device;

[0057] The pause parking instruction is sent by the mobile device to the vehicle in response to a user's pause operation; and / or the pause parking instruction is sent by the mobile device to the vehicle in response to the third distance not being within the preset range;

[0058] The third distance is a distance in third distance measurement data detected by the vehicle after the vehicle starts automatic parking, and the distance is the distance between the vehicle and the mobile device.

[0059] In one technical solution of the above parking method, after starting automatic parking, the method further includes:

[0060] stopping automatic parking in response to a stop parking instruction from the mobile device;

[0061] The stop parking instruction is sent by the mobile device to the vehicle in response to an exit operation by a user; and / or the stop parking instruction is sent by the mobile device to the vehicle in response to a communication abnormality between the vehicle and the mobile device.

[0062] In one technical solution of the above parking method, the vehicle establishes communication with the mobile device in the following manner:

[0063] Broadcasting a Bluetooth signal, the Bluetooth signal including a Bluetooth UUID, the Bluetooth UUID including a UWB character, the character value of the UWB character being used to indicate whether the vehicle can perform UWB ranging;

[0064] In response to a Bluetooth connection request from the mobile device, establishing a Bluetooth connection with the mobile device according to the Bluetooth connection request;

[0065] Performing identity authentication with the mobile device through the Bluetooth connection and establishing an encrypted Bluetooth communication channel;

[0066] The Bluetooth connection request is sent to the vehicle after the mobile device determines that the vehicle is capable of UWB ranging. The vehicle is capable of UWB ranging after the mobile device parses the Bluetooth signal and determines based on the character value of the UWB character in the Bluetooth signal.

[0067] In a third aspect, a mobile device is provided, comprising at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program, and when the computer program is executed by the at least one processor, the method described in any one of the technical solutions of the above-mentioned parking method is implemented.

[0068] In a fourth aspect, a vehicle is provided, comprising at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program, and when the computer program is executed by the at least one processor, the method described in any one of the technical solutions of the above-mentioned parking method is implemented.

[0069] In a fifth aspect, a computer-readable storage medium is provided, wherein a plurality of program codes are stored in the computer-readable storage medium, wherein the program codes are suitable for being loaded and run by a processor to execute the method described in any one of the technical solutions of the above-mentioned parking method.

[0070] The above one or more technical solutions of this application have at least one or more of the following beneficial effects:

[0071] In a technical solution for implementing the parking method provided in the present application, the method can be applied to a mobile device and includes the following steps: receiving a first notification sent by a vehicle, the first notification including first ranging data detected by the vehicle and vehicle door status data, the first notification being sent to the mobile device after the vehicle identifies itself as being in a parking scenario, the parking scenario being identified by the vehicle based on environmental information about its environment, the first ranging data including a first distance between the vehicle and the mobile device; determining whether a user of the mobile device has an intention to park based on the first distance and the vehicle body status data; receiving a second notification sent by the vehicle, the second notification including second ranging data detected by the vehicle, the second notification being sent to the mobile device after the mobile device determines that the user has an intention to park, the second ranging data including a second distance between the vehicle and the mobile device; and sending a third notification to the vehicle if the second distance is within a preset threshold range, the third notification being used to notify the vehicle to initiate automatic parking.

[0072] Based on the above implementation scheme, it is possible to automatically determine whether the user has the intention to park, and when the user has the intention to park, automatically determine whether to control the vehicle to start parking based on the distance between the vehicle and the mobile device (the second distance). During this process, the user does not need to perform manual operation. For the user, seamless parking is achieved, which greatly improves the user experience.

[0073] In addition, the above implementation scheme identifies whether the user has the intention to park based on the vehicle's first ranging data and vehicle status data, under the premise that the vehicle is in a parking scene. That is, it uses comprehensive identification of multiple dimensions of information such as parking scene, ranging data, and vehicle status data to effectively improve the accuracy of parking intention recognition, avoid the vehicle from accidentally starting automatic parking, and improve the safety of users during the vehicle parking process.

[0074] Furthermore, mobile devices are often carried by users, so the location of the mobile device can also indicate the user's location. In the above embodiment, the vehicle is notified to initiate automatic parking when the second distance between the vehicle and the mobile device falls within a preset threshold range. Specifically, the vehicle is notified to initiate automatic parking when the distance between the user and the vehicle falls within the preset threshold range. This further ensures user safety during parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] The disclosure of this application will become more easily understood with reference to the accompanying drawings. Those skilled in the art will readily appreciate that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. Among them:

[0076] FIG1 is a schematic flow chart of the main steps of a parking method according to an embodiment of the present application;

[0077] FIG2 is a schematic flow chart of the main steps of identifying whether a vehicle is in a parking scenario according to one embodiment of the present application;

[0078] FIG3 is a flowchart illustrating the main steps of determining whether a user of a mobile device has parking intention according to one embodiment of the present application;

[0079] FIG4 is a flowchart illustrating main steps of determining whether to send a third notification to a vehicle according to one embodiment of the present application;

[0080] FIG5 is a schematic diagram of setting five UWB nodes on a vehicle according to one embodiment of the present application;

[0081] FIG6 is a schematic diagram of determining a user location based on the UWB node in FIG5 ;

[0082] FIG7 is a schematic flow chart of main steps for determining whether to send a third notification to a vehicle according to another embodiment of the present application;

[0083] FIG8 is a flow chart showing the main steps of a parking method according to another embodiment of the present application.

[0084] FIG9 is a schematic flow chart of the main steps of establishing communication between a mobile device and a vehicle according to one embodiment of the present application;

[0085] FIG10 is a schematic flow chart of the main steps of establishing communication between a mobile device and a vehicle according to another embodiment of the present application;

[0086] FIG11 is a flowchart illustrating the main steps of establishing an encrypted Bluetooth communication channel between a mobile device and a vehicle according to one embodiment of the present application;

[0087] FIG12 is a schematic diagram of a process of a vehicle identifying a parking scene according to an embodiment of the present application;

[0088] FIG13 is a schematic diagram of a process of a mobile device determining a user's parking intention and user location according to an embodiment of the present application;

[0089] FIG14 is a schematic diagram of a parking safety reminder interface of a mobile device according to one embodiment of the present application;

[0090] FIG15 is a schematic diagram of a process of remotely controlling vehicle parking by a mobile device according to an embodiment of the present application;

[0091] FIG16 is a schematic diagram of a parking remote control interface of a mobile device according to one embodiment of the present application;

[0092] FIG17 is a schematic diagram comparing the parking method provided by the present application with the parking method in the prior art;

[0093] FIG18 is a flowchart illustrating the main steps of a parking method executed solely by a mobile device according to an embodiment of the present application;

[0094] FIG19 is a flow chart showing the main steps of a parking method in which a vehicle is the sole execution subject according to an embodiment of the present application.

[0095] FIG20 is a schematic diagram of a mobile device according to one embodiment of the present application;

[0096] FIG. 21 is a schematic diagram of a vehicle according to one embodiment of the present application.

[0097] Reference numerals:

[0098] 11: Memory; 12: Processor; 21: Memory; 22: Processor. DETAILED DESCRIPTION

[0099] Some embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application.

[0100] In the description of this application, "processor" may include hardware, software, or a combination of the two. The processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, hardware, or a combination of the two. Computer-readable storage media include any suitable medium that can store program code, such as a magnetic disk, a hard disk, an optical disk, a flash memory, a read-only memory, a random access memory, etc. The term "A and / or B" represents all possible combinations of A and B, such as only A, only B, or A and B.

[0101] The relevant user personal information that may be involved in the various embodiments of this application is strictly in accordance with the requirements of laws and regulations, following the principles of legality, legitimacy and necessity, and based on the reasonable purposes of business scenarios, to process the personal information that users actively provide during the use of products / services or generated due to the use of products / services, as well as the personal information obtained with the user's authorization.

[0102] The user personal information processed by this application will vary depending on the specific product / service scenario and must be based on the specific scenario in which the user uses the product / service. This may involve the user's account information, device information, driving information, vehicle information, or other related information. This application will treat the user's personal information and its processing with a high degree of diligence.

[0103] This application attaches great importance to the security of user personal information and has taken reasonable and feasible security protection measures that comply with industry standards to protect user information and prevent personal information from being accessed, disclosed, used, modified, damaged or lost without authorization.

[0104] The following describes an embodiment of a parking method provided by the present application, which is implemented by a mobile device and a vehicle as execution entities.

[0105] Mobile devices may be, but are not limited to, mobile phones, tablet computers, desktop computers, laptop computers, handheld computers, notebook computers, vehicle-mounted devices, ultra-mobile personal computers (UMPCs), netbooks, personal digital assistants (PDAs), augmented reality (AR) and virtual reality (VR) devices, etc., and are not limited to these in the embodiments of the present application.

[0106] The vehicle may be a smart device that can move, and the smart device may include electric vehicles, gasoline / diesel vehicles, smart cars and other devices. Optionally, the smart device may also include an automatic driving system, which is used to guide the smart device to drive on its own or assist in driving. In some application scenarios according to the embodiments of the present application, the above-mentioned smart device can be driven by the user himself, and the parking method provided in the present application is executed through the smart device and the user's mobile device during the driving process. In addition, in some application scenarios, if the smart device includes an automatic driving system, the automatic driving system can also guide the smart device to drive automatically or assist in driving, and the user can sit in the smart device to rest, and then take over the smart device when he wants to drive himself, and drive by himself. In this process, the parking method provided in the present application can still be executed through the smart device and the user's mobile device.

[0107] Referring to FIG1 , FIG1 is a schematic flow chart of the main steps of a parking method according to an embodiment of the present application. As shown in FIG1 , the parking method in the embodiment of the present application mainly includes the following steps S101 to S108.

[0108] Step S101: The vehicle identifies whether it is in a parking scenario based on the environmental information of the environment in which it is located. The parking scenario can be understood as whether the environment in which the vehicle is located has an available parking space for the vehicle, and the vehicle can park in this available parking space.

[0109] Step S102: If the vehicle is in a parking scenario, the vehicle sends a first notification to the mobile device. A communication connection is established between the vehicle and the mobile device, and the vehicle can send the first notification to the mobile device through the communication connection.

[0110] The first notification includes first distance measurement data detected by the vehicle and vehicle body status data. The first distance measurement data includes a first distance between the vehicle and the mobile device. The vehicle body status data may include status data of vehicle components, which may be first components located on the vehicle body or second components located within the vehicle body. The first components may be doors, windows, etc., and the second components may be seats, floor mats, etc.

[0111] Step S103: The mobile device receives the first notification sent by the vehicle.

[0112] Step S104: The mobile device determines whether the user of the mobile device intends to park the vehicle based on the first distance and the vehicle status data in the first notification.

[0113] Whether a user intends to park can be determined based on factors such as the spatial position (distance) between the user and the vehicle, and the vehicle's state. Since users often carry their mobile devices or the mobile device is relatively close to the user, the first distance can also represent the distance between the user and the vehicle, and the first distance can be used to determine whether the user is inside or outside the vehicle. If the first distance determines that the user has moved from inside the vehicle to outside, this indicates that the user may intend to park. Furthermore, when parking a vehicle, to ensure parking safety, vehicle components are typically placed in a preset state corresponding to parking. Therefore, if the vehicle state data indicates that a vehicle component is in such a preset state, this indicates that the user may intend to park. When setting the preset state corresponding to parking, those skilled in the art can analyze the vehicle's state during parking to determine whether parking is safe under different vehicle component states, and then select the vehicle component state that indicates safe parking as the preset state. For example, if the vehicle component is a door, the preset state for the door is closed.

[0114] If both the first distance and the vehicle state data determine that the user may want to park, then it is highly likely that the user wants to park, and it can be determined that the user has a parking intention. If either the first distance or the vehicle state data determines that the user does not want to park, then it is less likely that the user wants to park, and it can be determined that the user has no parking intention.

[0115] Step S105: If the mobile device determines that the user intends to park, the vehicle sends a second notification to the mobile device. In this embodiment, after the mobile device determines that the user intends to park, it can send a notification to the vehicle. The vehicle can then determine that the user intends to park based on the notification and then send a second notification to the mobile device.

[0116] The second notification includes second ranging data detected by the vehicle, the second ranging data including a second distance between the vehicle and the mobile device.

[0117] Step S106: The mobile device receives the second notification sent by the vehicle.

[0118] Step S107: If the second distance in the second notification is within a preset threshold range, a third notification is sent to the vehicle.

[0119] The third notification is used to notify the vehicle to start automatic parking.

[0120] Similar to the first distance, the second distance may also represent the distance between the user and the vehicle.

[0121] If the second distance is within the preset threshold range, it indicates that the distance between the user and the vehicle is relatively far and the user has moved away from the vehicle. At this time, parking by the vehicle will not threaten the user's safety. If the second distance is not within the preset threshold range, it indicates that the distance between the user and the vehicle is relatively close. At this time, parking by the vehicle will threaten the user's safety.

[0122] When setting the preset threshold range, those skilled in the art can analyze the vehicle's parking conditions and determine a minimum distance. If the distance between the user and the vehicle is less than this minimum distance, parking poses a threat to the user's safety; if the distance between the user and the vehicle is greater than or equal to this minimum distance, parking poses no threat to the user's safety. The distance range greater than or equal to this minimum distance is then used as the preset threshold range.

[0123] Step S108: The vehicle receives the third notification sent by the mobile device and starts automatic parking according to the third notification.

[0124] Based on the method described in steps S101 to S108 above, it is possible to automatically determine whether the user intends to park. When the user intends to park, the method automatically determines whether to control the vehicle to initiate parking based on the distance between the vehicle and the mobile device. This process eliminates the need for manual user interaction, achieving seamless parking and significantly improving the user experience. Furthermore, the method utilizes comprehensive recognition of multiple dimensions, including parking scenarios, distance measurement data, and vehicle status data, to effectively improve the accuracy of parking intention recognition, prevent the vehicle from inadvertently initiating automatic parking, and enhance user safety during the parking process. Furthermore, the method notifies the vehicle to initiate automatic parking when the distance between the user and the vehicle falls within a preset threshold, further ensuring user safety during the parking process.

[0125] The above steps S101, S104 and S107 are further explained below.

[0126] 1. Explain step S101.

[0127] In some embodiments of step S101 above, the vehicle is provided with sensors, and the environmental information of the vehicle's environment may include environmental data collected by the sensors. In this embodiment, the vehicle may identify whether the vehicle is in a parking scenario through the following steps S1011 to S1012 shown in FIG2 .

[0128] Step S1011: In response to the vehicle entering the parking lot, performing parking space recognition on the environmental data. In this embodiment, a conventional parking space recognition method can be used to perform parking space recognition on the environmental data.

[0129] In some embodiments, the sensor may be a camera, and the environmental data may be an environmental image captured by the camera. Image recognition methods may be used to identify parking spaces in the environmental image to obtain information about parking spaces in the environment where the vehicle is located. The parking space information may include information such as the location, size, and orientation of the parking space, and may also include information such as whether the parking space is occupied by an obstacle.

[0130] In some embodiments, the sensor may be a radar (such as a lidar or millimeter-wave radar), and the environmental data may be point cloud data (or point cloud images) collected by the radar. A point cloud recognition method may be used to identify parking spaces in the point cloud data collected by the radar to obtain information about parking spaces in the vehicle's environment. The parking space information is similar to the information obtained by image recognition described above and will not be further described here.

[0131] Step S1012: If an available parking space for the vehicle is identified in the parking lot, it is determined that the vehicle is in a parking scene.

[0132] An available parking space is at least one that is not occupied by an obstacle, and a vehicle can park in this available parking space. Furthermore, to improve parking reliability, when multiple available parking spaces are available, they can be filtered based on their size and orientation. Larger spaces with orientations that facilitate quick parking are selected, i.e., the optimal parking space is selected and designated as the available parking space.

[0133] Those skilled in the art can flexibly set the method for selecting available parking spaces according to actual needs. This embodiment does not impose any specific limitation on this, as long as an available parking space can be obtained.

[0134] Based on the method described in steps S1011 to S1012 above, it is possible to use environmental information to quickly and accurately identify whether the vehicle is in a parking scene.

[0135] 2. Explain step S104.

[0136] In some embodiments of step S104, the vehicle state data includes door state data. In this embodiment, the mobile device can determine whether the user of the mobile device has parking intention by following steps S1041 to S1043 shown in FIG3 .

[0137] Step S1041: Determine whether the user has gotten off the vehicle based on the first distance.

[0138] As described in the previous embodiment, the first distance can also represent the distance between the user and the vehicle. Therefore, the first distance can be used to determine whether the user is inside or outside the vehicle. If the first distance determines that the user was inside the vehicle for a period of time and then outside the vehicle for a period of time, it indicates that the user moved from inside the vehicle to outside the vehicle, that is, got out of the vehicle.

[0139] Step S1042: If the user gets off the vehicle, determine whether the vehicle door is closed based on the door status data.

[0140] The state of the vehicle door includes open and closed, and the vehicle door state data can indicate whether the vehicle door is open or closed. Therefore, it is possible to quickly determine whether the vehicle door is closed based on the vehicle door state data. The vehicle door state data can be obtained based on conventional methods in the art, and this application does not impose any restrictions on this.

[0141] Step S1043: If the vehicle door is closed, it is determined that the user intends to park the vehicle.

[0142] Under the premise that the vehicle is in a parking scene, the user has gotten off the vehicle, and the door is closed again after the user gets off the vehicle, which indicates that the user is willing to park. Therefore, it can be determined at this time that the user has the intention to park.

[0143] Based on the method described in steps S1041 to S1043 above, the user's intention to park can be accurately determined by combining the user's getting off the vehicle and the door closing as well as the order of the two.

[0144] In some embodiments of step S104 above, after determining that the user has exited the vehicle, in addition to determining whether the vehicle doors are closed, it is also possible to determine whether communication between the vehicle and the mobile device is normal. If communication is abnormal, incorrect first distance and door status data may be obtained, making it impossible to accurately determine whether the user intends to park. Therefore, in this embodiment, after determining that the user has exited the vehicle, if the vehicle doors are closed and communication between the vehicle and the mobile device is normal, the user's intention to park is determined. This embodiment further improves the accuracy of parking intention determination.

[0145] The above step S1041 is further explained below.

[0146] In some implementations of the above step S1041, the mobile device may determine whether the user has gotten off the vehicle through the following steps 11 to 12.

[0147] Step 11: Determine, based on the first distance, whether the device location of the mobile device is switched from inside the vehicle to outside the vehicle, where the device location of the mobile device is used to represent the user location.

[0148] Step 12: If the device position switches from inside the vehicle to outside the vehicle and it is detected that the vehicle's seat occupancy signal is lost, it is determined that the user has gotten off the vehicle.

[0149] If the seat is occupied (e.g., someone is sitting in it), a seat occupancy signal is generated. If the seat is unoccupied (e.g., the seat is empty, with no person or object sitting on it), no seat occupancy signal is generated (i.e., the seat occupancy signal is lost). The seat occupancy signal can be used to assist in determining whether the user has left the vehicle and is no longer in the vehicle. The seat standing signal can be obtained using conventional methods in the art and is not limited in this application.

[0150] When it is determined at the same time that the user switches from inside the vehicle to outside the vehicle and the seat occupancy signal is lost, it indicates that the possibility that the user has gotten off the vehicle is relatively high. Therefore, it can be determined that the user has gotten off the vehicle.

[0151] Based on the method described in steps 11 to 12 above, the seat occupancy signal can be used to further improve the accuracy of the user's judgment of getting off the vehicle.

[0152] 3. Explain step S107.

[0153] In some embodiments of step S107 above, multiple UWB nodes are provided on the vehicle, and the UWB nodes are used to perform UWB ranging with the mobile device to obtain the ranging distance between the UWB nodes and the mobile device. These UWB nodes can be provided at different locations on the vehicle. The UWB nodes can be understood as UWB ranging anchor points, which are UWB hardware fixed to the vehicle.

[0154] In this embodiment, a conventional UWB positioning module in the UWB technology field can be used as the aforementioned UWB node. Furthermore, UWB ranging is a conventional method in the UWB technology field. The specific principles and processes of UWB ranging between a UWB node and a mobile device are not described in detail in this embodiment. Furthermore, the mobile device has UWB ranging capabilities.

[0155] In this embodiment, the second distance in the second notification includes the ranging distance obtained by each UWB node on the vehicle. At the same time, the mobile device can determine whether to send a third notification to the vehicle through the following steps S1071 to S1073 shown in Figure 4.

[0156] Step S1071: With the position of each UWB node as the center of the circle and the ranging distance obtained by each UWB node as the radius, a circular area corresponding to each UWB node is formed.

[0157] UWB ranging primarily uses the time of flight method for distance measurement. Clock offset, electromagnetic interference, and other factors may cause errors in the flight time measured by UWB ranging, which in turn may cause errors in the distance measured by UWB ranging. To address this, we can first identify the factors that may cause errors in the flight time, and then determine the distance error caused by these factors per unit time. After UWB ranging uses flight time to obtain the measured distance, we can use the flight time and the distance error caused by the measured distance per unit time to calculate the distance error generated during the entire flight time. This distance error can then be subtracted from the measured distance obtained by UWB ranging to obtain the true value of the measured distance, which is then used to form the aforementioned circular area.

[0158] The above process can be understood as distance compensation for the ranging distance. When determining the unit time, you can first determine the time unit of the flight time, and then use the time of this time unit as the unit time. For example, if the time unit of the flight time is seconds, then the unit time is 1 second.

[0159] In addition, since the UWB nodes are located at different positions on the vehicle, the flight time obtained by each UWB node for ranging may also be different. Therefore, it is necessary to calculate the distance error separately for the ranging distance obtained by each UWB node and compensate for it.

[0160] Step S1072: Obtain the intersection points of the circular areas corresponding to all UWB nodes, and obtain the user position relative to the vehicle based on the positions of the intersection points.

[0161] According to the aforementioned embodiment, the second distance may represent the distance between the user and the vehicle, and the distance measured by the UWB ranging may also represent the distance between the user and the vehicle.

[0162] If the circular areas intersect to form an intersection, it means that the user may be near this intersection. Therefore, the user's location can be obtained based on the location of the intersection.

[0163] In some embodiments, multiple UWB nodes can be evenly distributed at different positions of the vehicle. Since the above-mentioned circular area is centered on the position of the UWB node, the intersection points formed by the intersection of the above-mentioned circular areas will be distributed around the vehicle. In this way, no matter where the user is in the vehicle, the user position can be obtained, thereby achieving precise positioning of the user position around the vehicle (360° around the vehicle body), which is equivalent to forming a circular positioning area on the outer contour of the vehicle body.

[0164] The intersection of two circular areas will form two intersection points. If there are more intersection points in a certain area, then the user is likely to be in this area. Therefore, the user's location can be obtained based on the position distribution of the intersection points of the circular areas corresponding to all the above UWB nodes.

[0165] 5 and 6 , FIG. 5 exemplarily shows five UWB nodes on a vehicle, and FIG. 6 exemplarily shows how the user location is determined based on the UWB nodes in FIG. 5 .

[0166] As shown in FIG5 , UWB nodes 1 to 5 are provided on the vehicle.

[0167] As shown in Figure 6, the areas marked with users all have three intersections, which is more than the number of intersections in other areas. Therefore, the user may be in one of these four areas. For example, based on the locations of the three intersections in a given area, we can determine the range enclosed by these three intersections and use this range as the user's location.

[0168] Step S1073: If the user location is within the preset threshold range, a third notification is sent to the vehicle.

[0169] The intersection of the circular areas corresponding to the UWB nodes can be used to precisely locate the user's location. Compared to the second distance, this user location more accurately represents the actual distance between the user and the vehicle. Therefore, by determining whether the user's location is within a preset threshold range to determine whether to send the third notification, the accuracy of the timing of sending the third notification can be improved.

[0170] Based on the method described in steps S1071 to S1073 above, more accurate user positioning can be achieved, ensuring the accuracy and reliability of the sending of the third notification.

[0171] In some implementations of the above step S107, a proximity sensor is provided on the mobile device. In this implementation, the mobile device may send the third notification to the vehicle through the following steps S1074 to S1076 shown in FIG7 .

[0172] Step S1074: Acquire distance data collected by the short-range sensor.

[0173] A proximity sensor is installed on a mobile device, and the proximity sensor can be used to collect the distance between an external object and the mobile device. This distance is the distance data collected by the proximity sensor. For example, when a user uses the mobile device, the distance data can represent the distance between the user and the mobile device.

[0174] In this embodiment, a conventional short-range sensor may be used, and this embodiment does not specifically limit the principle and method of collecting distance data by the short-range sensor.

[0175] Step S1075: Determine whether the mobile device is being used by the user based on the distance data.

[0176] In this embodiment, a distance threshold range between the user and the mobile device can be set in advance. If the distance data falls within the distance threshold range, it indicates that the user is using the mobile device; otherwise, the user is not using the mobile device.

[0177] Regardless of whether the user is holding the mobile device or not (for example, placing the mobile device on a table), as long as the distance data falls within the above distance threshold range, it can be determined that the user is using the mobile device.

[0178] Step S1076: If the mobile device is in use by the user, a third notification is sent to the vehicle. In this embodiment of the present application, to ensure parking safety, the user can remotely monitor the vehicle's automatic parking via the mobile device. Therefore, it is necessary to ensure that the mobile device is in use, and the user can pause or stop automatic parking at any time during the parking process. This embodiment, however, only sends the third notification to the vehicle and initiates automatic parking after determining that the mobile device is in use. This can further improve the accuracy of the timing of sending the third notification and ensure parking safety.

[0179] The following continues to describe an embodiment of the parking method provided in this application.

[0180] In some embodiments of the present application, after the vehicle starts automatic parking, the user can also remotely monitor the vehicle through a mobile device. The following describes the parking data display, pause parking, and stop parking in remote monitoring.

[0181] 1. Explain the display of parking data in remote monitoring.

[0182] In some embodiments, after a vehicle begins automatic parking, it may transmit parking data to a mobile device. This parking data may include the vehicle's parking path, obstacle information, and parking progress during the automatic parking process. The parking path is the path the vehicle travels during the parking process, and parking progress can be understood as the degree of parking completion. In response to a user's display operation, the mobile device may display the parking data selected in the display operation. For example, if the parking path is selected in the display operation, the parking path will be displayed. This allows the user to accurately and intuitively understand the vehicle's path during parking, even when the user is far away from the vehicle.

[0183] In some embodiments, the mobile device may display a parking remote control interface on which the user can perform display operations. The parking remote control interface may include controls for display operations, which the user can operate by clicking, dragging, or sliding. For example, a display operation button corresponding to each type of parking data may be provided on the parking remote control interface. By clicking a button for a type of parking data, the user displays that parking data on the parking remote control interface.

[0184] 2. Explain the suspended parking in remote supervision.

[0185] In some embodiments, after the vehicle begins automatic parking, the mobile device may, in response to a user's pause operation, send a pause parking instruction to the vehicle. The pause parking instruction is used to control the vehicle to pause automatic parking. Upon receiving the pause parking instruction, the vehicle may pause automatic parking according to the pause parking instruction.

[0186] Similar to the parking data display, in some embodiments, the mobile device can display a parking remote control interface on which the user can pause the vehicle. The parking remote control interface can include a control for pausing the vehicle, which the user can operate by clicking, dragging, or sliding.

[0187] In some implementations, after the vehicle starts automatic parking, the mobile device may further send a pause parking instruction to the vehicle through steps 21 and 22 below.

[0188] Step 21: Receive the fourth notification sent by the vehicle.

[0189] The fourth notification includes third distance measurement data detected by the vehicle, and the fourth notification is sent by the vehicle to the mobile device after the vehicle starts automatic parking. The third distance measurement data includes a third distance between the vehicle and the mobile device.

[0190] Step 22: If the third distance is not within the preset threshold range, send a pause parking instruction to the vehicle.

[0191] Similar to the first and second distances, the third distance can also represent the distance between the user and the vehicle. If the third distance is not within the preset threshold, it indicates that the user has moved close to the vehicle and the distance between them is relatively close. At this time, parking may threaten the user's safety. Therefore, a pause parking command is sent to the vehicle to suspend parking.

[0192] In some embodiments, the method described in steps S1071 to S1073 above may be used to obtain the user's location based on the third distance, and if the user's location is within a preset threshold range, a pause parking instruction is sent to the vehicle.

[0193] When the distance between the mobile device and the vehicle is detected to be within a preset threshold again, a resume parking instruction is sent to the vehicle, causing the vehicle to continue parking according to the resume parking instruction. Alternatively, a resume parking instruction is sent to the vehicle in response to a user's resume operation. In some embodiments, the mobile device may display a parking remote control interface on which the user can perform the resume operation. The remote control interface may include a control for the resume operation, which the user can operate by clicking, dragging, or sliding.

[0194] Based on the method described in steps 21 to 22 above, parking can be paused actively according to the user's operation, or it can be paused passively according to the third distance between the mobile device and the vehicle, thereby ensuring the safety of the user during the parking process.

[0195] 3. Explain the stopping and parking in remote supervision.

[0196] In some embodiments, after the vehicle begins automatic parking, the mobile device may, in response to a user's exit operation, send a stop parking instruction to the vehicle. The stop parking instruction is used to control the vehicle to stop automatic parking. Upon receiving the stop parking instruction, the vehicle may pause automatic parking according to the stop parking instruction.

[0197] Similar to the parking data display, in some embodiments, the mobile device may display a parking remote control interface on which the user can exit the parking system. The parking remote control interface may include an exit control that the user can click, drag, or slide to exit the system.

[0198] In some implementations, after the vehicle starts automatic parking, the mobile device may further send a stop parking instruction to the vehicle in response to a communication anomaly between the vehicle and the mobile device.

[0199] If communication is abnormal, the mobile device may obtain an incorrect third distance, and the instruction received by the vehicle from the mobile device may also be incorrect. Continuing parking in this state is likely to threaten the user's safety. Therefore, a stop parking instruction is sent to the vehicle to stop parking.

[0200] The following describes an embodiment of the parking method provided by this application with reference to FIG8 . In this embodiment, the parking method may include multiple parking methods described in the method embodiments. Specifically, FIG8 is a flow chart illustrating the main steps of the parking method of this embodiment. As shown in FIG8 , the parking method of this embodiment primarily includes the following steps S201 to S207 .

[0201] Step S201: Identify whether the vehicle is in a parking scene.

[0202] If the vehicle recognizes that it is in a parking scene, it sends a first notification to the mobile device and goes to step S202.

[0203] Step S202: Determine whether the device location of the mobile device is switched from inside the vehicle to outside the vehicle.

[0204] The first notification includes a first distance between the vehicle and the mobile device. The mobile device can determine whether its own device position has switched from inside the vehicle to outside the vehicle based on the first distance. If it has switched to outside the vehicle, it indicates that the user has gotten off the vehicle, and the process can proceed to step S203.

[0205] Step S203: Determine whether the vehicle door is closed.

[0206] The first notification also includes vehicle body status data, which may include door status data. The mobile device can determine whether the door is closed based on the door status data; if the door is closed, indicating that the user intends to park, the process can proceed to step S204.

[0207] Step S204: Obtain the user location.

[0208] After determining that the user intends to park, the mobile device can send a fifth notification to the vehicle. Based on the fifth notification, the vehicle can determine that the user intends to park, and the vehicle can send a second notification to the mobile device, where the second notification includes a second distance between the vehicle and the mobile device.

[0209] The mobile device may obtain the user's location based on the second distance.

[0210] Step S205: Parking reminder.

[0211] The mobile device can determine whether the user's location is within a preset threshold range. If so, the user is in a safe area and parking will not threaten their safety. At this point, a parking reminder can be issued to inform the user that parking is about to begin.

[0212] Step S206: Notify the vehicle to start parking and display the parking process.

[0213] After the parking reminder ends, the mobile device can send a third notification to the vehicle. At the same time, the mobile device displays a parking remote control interface on which the user can operate to display parking data, pause parking, and stop parking.

[0214] Furthermore, after the parking reminder ends, distance data collected by the proximity sensor on the mobile device can be obtained to determine whether the mobile device is being used by the user based on the distance data; if it is being used by the user, it indicates that the user is paying attention to this parking through the mobile device, and a third notification can be sent to the vehicle to start parking; otherwise, the third notification may not be sent.

[0215] Step S207: Determine whether the user location is within a preset threshold range.

[0216] The vehicle may send a fourth notification to the mobile device after initiating automatic parking, the fourth notification including a third distance between the vehicle and the mobile device.

[0217] The vehicle can obtain the user's location based on the third distance and determine whether the user's location is within a preset threshold range; if it is, it means that the user is relatively safe and can continue parking; if it is not, it means that the user is relatively close to the vehicle and parking will threaten the user's safety. At this time, a pause parking command can be sent to the vehicle to suspend parking.

[0218] After the vehicle starts parking, it can also stop parking. The method of stopping parking is the same as the method of stopping parking for remote supervision in the above method embodiment, and will not be described in detail here.

[0219] Based on the method described in steps S201 to S207 above, user-free parking can be achieved while effectively ensuring the user's safety during the parking process.

[0220] The following describes a method for establishing communication between a mobile device and a vehicle in this application.

[0221] 9, which is a flowchart illustrating the main steps of a method for establishing communication between a mobile device and a vehicle according to an embodiment of the present application. As shown in FIG9, the communication establishment method in the embodiment of the present application mainly includes the following steps S301 to S307.

[0222] Step S301: The vehicle broadcasts a Bluetooth signal.

[0223] The Bluetooth signal includes a Bluetooth UUID (Universally Unique Identifier). The Bluetooth UUID is an identifier for a Bluetooth device, and different Bluetooth devices may have different Bluetooth UUIDs. In this embodiment, the vehicle can broadcast Bluetooth signals and establish Bluetooth communication with other devices. Therefore, the vehicle can be understood as a Bluetooth device.

[0224] The Bluetooth UUID may include a UWB character, and the character value of the UWB character is used to indicate whether the vehicle can perform UWB ranging. In this embodiment, it is possible to set in advance which character value indicates that UWB ranging can be performed and which character value indicates that UWB ranging cannot be performed. For example, if the character value is 1, it means that the vehicle can perform UWB ranging, that is, it has UWB ranging function; if the character value is 0, it means that the vehicle cannot perform UWB ranging, that is, it does not have UWB ranging function.

[0225] In some implementations, to ensure Bluetooth security, a time period can be set. During each time period, the vehicle randomly generates a new UUID. However, each UUID contains the same UWB character value. It is other content within the UUID that may change randomly. The time period can be set based on user needs. If the user wants to update the UUID frequently, the time period can be set to a smaller value; otherwise, the time period can be set to a larger value.

[0226] Step S302: The mobile device receives the Bluetooth signal broadcast by the vehicle.

[0227] Similar to vehicles, mobile devices can receive Bluetooth signals and establish Bluetooth communications with other devices. Therefore, mobile devices can also be understood as Bluetooth devices.

[0228] Step S303: the mobile device parses the Bluetooth signal to obtain the character value of the UWB character in the Bluetooth signal, that is, parses the received Bluetooth signal to obtain the character value.

[0229] Step S304: The mobile device determines whether the vehicle can perform UWB ranging based on the parsed character value. If the vehicle can perform UWB ranging, the process proceeds to step S305.

[0230] Step S305: If the vehicle is capable of UWB ranging, a Bluetooth connection request is sent to the vehicle. In this embodiment, UWB ranging can be used to obtain the first, second, and third distances mentioned in the previous embodiments. Therefore, the vehicle must have UWB ranging capabilities. Once the vehicle is determined to be capable of UWB ranging, communication is established with it. Based on this, vehicles that are not capable of UWB ranging can be filtered out before establishing communication. These vehicles may not belong to the mobile device user.

[0231] Step S306: The vehicle establishes a Bluetooth connection with the mobile device according to the Bluetooth connection request.

[0232] The vehicle can use conventional Bluetooth connection methods to connect to the mobile device via Bluetooth.

[0233] Step S307: The vehicle and the mobile device perform identity authentication via a Bluetooth connection and establish an encrypted Bluetooth communication channel.

[0234] Identity authentication may include the vehicle authenticating the mobile device. If the authentication is successful, it indicates that the mobile device is trustworthy to the vehicle, and the vehicle can establish communication with the mobile device.

[0235] Identity authentication may also include identity authentication of the vehicle by the mobile device. If the authentication is successful, it indicates that the vehicle is trustworthy to the mobile device, and the mobile device can establish communication with the vehicle.

[0236] Only after the identity authentication between the vehicle and the mobile device is successful can the Bluetooth communication channel be established. The encrypted Bluetooth communication channel can be understood as the vehicle and the mobile device communicating through the Bluetooth communication channel in an encrypted manner.

[0237] When establishing a Bluetooth communication channel, a communication key can be agreed upon between the vehicle and the mobile device, and the communication key can be used when the two communicate.

[0238] In some embodiments, failures may occur when executing the steps of the above method. To address this, a number threshold can be set for each step. When the number of failures reaches this number threshold, the Bluetooth communication channel will not be established. Alternatively, a time threshold can be set for each step. When the time for repeatedly executing the corresponding step without success reaches this time threshold, the Bluetooth communication channel will not be established. When setting the number threshold and time threshold, if the security requirements for establishing communication are relatively high, the number threshold and time threshold can be set to a smaller value; otherwise, the number threshold and time threshold can be set to a larger value.

[0239] Based on the method described in steps S301 to S307 above, a secure and reliable communication channel can be established between the vehicle and the mobile device to ensure the security of information transmission.

[0240] The following further describes the method for establishing communication between a mobile device and a vehicle.

[0241] In some embodiments according to the present application, a communication connection may be established between the mobile device and the vehicle through the following steps S401 to S404 shown in FIG10 .

[0242] Step S401: Determine whether to establish a Bluetooth connection based on the Bluetooth UUID.

[0243] In this step, the method described in steps S301 to S305 above can be used to determine whether a Bluetooth connection is established between the vehicle and the mobile device; if established, the mobile device will send a Bluetooth connection request to the vehicle.

[0244] Step S402: Bluetooth pairing and establishing an encrypted Bluetooth communication channel.

[0245] Upon receiving the Bluetooth connection request, the vehicle can pair with the mobile device according to the Bluetooth connection request. If the pairing is successful, the Bluetooth connection is completed. The vehicle can use a conventional Bluetooth pairing method to pair with the mobile device.

[0246] After the Bluetooth connection is completed, the vehicle and mobile device perform identity authentication through the Bluetooth connection and establish an encrypted Bluetooth communication channel.

[0247] Step S403: Both parties negotiate BLE / UWB capabilities.

[0248] After establishing an encrypted Bluetooth communication channel, the communication parameters between the vehicle and mobile device must be determined. These parameters include both Bluetooth and UWB parameters. Determining Bluetooth parameters can be understood as negotiating Bluetooth capabilities, specifically BLE capabilities; determining UWB parameters can be understood as negotiating UWB capabilities.

[0249] Step S404: Set UWB parameters and establish a secure ranging session.

[0250] Before performing UWB ranging, vehicles and mobile devices need to establish a secure ranging session based on the negotiated UWB parameters, and perform ranging through this secure ranging session.

[0251] A secure ranging session is a common method in the UWB technology field. This embodiment does not specifically limit the method for establishing a secure ranging session. As long as a secure ranging session can be established, it is sufficient to ensure that the vehicle and the mobile device can perform UWB ranging normally.

[0252] In this embodiment, a secure ranging session uses a double-sided, two-way ranging (DS-TWR) method to measure the distance between the two parties. In some implementations, the mobile device and vehicle send pulse signals carrying information to each other, and the distance between them is calculated based on the time of flight of the pulse signals. The inventors of this application have determined, through research and practice, that the ranging accuracy of this method is 10 centimeters.

[0253] At this point, communication is established between the vehicle and the mobile device, allowing them to perform the parking method described in the aforementioned method embodiment. For example, as shown in FIG10 , the vehicle can perform UWB ranging on the mobile device to determine the distance between the vehicle and the mobile device. Based on the vehicle's own position and this distance, the mobile device's position, i.e., the mobile device's positioning coordinates, can be determined.

[0254] Based on the method described in steps S401 to S404 above, a secure and reliable communication channel can be established between the vehicle and the mobile device to ensure the security of information transmission.

[0255] The following further describes the method for establishing communication between a mobile device and a vehicle.

[0256] In some embodiments according to the present application, an encrypted Bluetooth communication channel may be established between a mobile device and a vehicle through the following steps shown in FIG. 11 .

[0257] Step 31: The vehicle sends a first message to the mobile device, where the first message is used to obtain device type and version information of the mobile device.

[0258] Step 32: The mobile device receives the first message and sends a second message to the vehicle according to the first message, where the second message is used to reply the device type and version information to the vehicle.

[0259] Step 33: The vehicle generates a random number a and calculates the public key A.

[0260] Specifically, the vehicle can generate a random number a, and then use the ECDH (Elliptic Curve Diffie-Hellman) algorithm to calculate a public key A based on the random number a.

[0261] The ECDH algorithm is a conventional key agreement algorithm in the field of communications technology. This embodiment does not specifically limit the principle of the ECDH algorithm and the process of calculating the public key A.

[0262] Step 34: The vehicle public key A is sent to the mobile device.

[0263] Step 35: The mobile device generates a random number b and calculates the public key B.

[0264] Specifically, the mobile device can generate a random number b, and then use the ECDH algorithm to calculate a public key B based on the random number b.

[0265] Step 36: The mobile device sends the public key B to the vehicle.

[0266] Step 37: The vehicle calculates the session key K based on the public key B and the random number a, while the mobile device calculates the session key K based on the public key A and the random number b.

[0267] Step 38: The vehicle encrypts the vehicle certificate using the session key K and sends the encrypted vehicle certificate to the mobile device. The vehicle certificate can be understood as a string of numbers with secure identity authentication properties generated through encryption.

[0268] Step 39: The mobile device verifies the vehicle certificate.

[0269] The mobile device is equipped with a mobile device certificate issued by the vehicle as the original equipment manufacturer (OEM). This mobile device certificate contains the vehicle's OEM public key, which was provided by the vehicle when the certificate was issued. A mobile device certificate can also be understood as a cryptographically generated string of numbers with secure identity authentication properties.

[0270] The mobile device can use the vehicle's OEM public key to verify the vehicle certificate.

[0271] Step 40: After successfully verifying the vehicle certificate, the mobile device encrypts the mobile device certificate using the session key K and sends the encrypted mobile device certificate to the vehicle.

[0272] Step 41: The vehicle verifies the mobile device certificate.

[0273] The vehicle is provided with a mobile device as a vehicle certificate issued by the OEM. This vehicle certificate contains the OEM public key of the mobile device. The OEM public key of the mobile device is provided by the mobile device when the certificate is issued.

[0274] The vehicle can use the mobile device's OEM public key to verify the mobile device's certificate.

[0275] Once the mobile device is successfully authenticated, an encrypted Bluetooth communication channel is established.

[0276] After this, steps S403 to S404 in the aforementioned method embodiment may be executed. It should be noted that although FIG11 does not illustrate the step of BLE / UWB capability negotiation between the two parties, the step of BLE / UWB capability negotiation between the two parties is still required before setting UWB parameters and establishing a secure ranging session.

[0277] Based on the method described in steps 31 to 41 above, identity authentication between the vehicle and the mobile device can be reliably completed, and an encrypted Bluetooth communication channel can be established. The encrypted Bluetooth communication channel can be protected from attacks such as relay and brute force attacks, providing extremely high security.

[0278] The following describes an embodiment of the parking method provided by this application in conjunction with Figures 12 to 16. Figure 12 illustrates the process of a vehicle identifying a parking scenario, Figure 13 illustrates the process of a mobile device determining a user's parking intention and user location, Figure 15 illustrates the process of a mobile device remotely controlling vehicle parking, Figure 14 illustrates the parking safety reminder interface of a mobile device, and Figure 16 illustrates the parking remote control interface of a mobile device.

[0279] In this embodiment, the vehicle may include a communication module, a vehicle data exchange hub, an automated assisted driving controller, and a digital cockpit. It is understood that these modules may be integrated into one or more components or installed as separate components within the vehicle. During communication between the vehicle and a mobile terminal, actions performed or completed by these different modules may also be considered actions performed or completed by the vehicle.

[0280] The communication module can be used for mutual communication between the vehicle data exchange hub, the automatic assisted driving controller and the digital cockpit, and can also be used for communication between the vehicle and the mobile device. It should be noted that in Figures 12, 13 and 15, although the information is sent from the vehicle data exchange hub or the automatic assisted driving controller to the mobile device, it can be understood that the vehicle data exchange hub and the automatic assisted driving controller do not communicate directly with the mobile device, but send the information to the communication module, which is then sent to the mobile device by the communication module; conversely, the mobile device also sends the information to the communication module, which is then sent to the vehicle data exchange hub and the automatic assisted driving controller by the communication module. In order to clearly present the interaction process of each message, Figures 12, 13 and 15 show the information interaction process between the mobile device, the vehicle data exchange hub and the automatic assisted driving controller.

[0281] The vehicle data exchange center is the center within the vehicle responsible for data transmission, communication, and decision-making.

[0282] The automatic assisted driving controller is a controller used for automatic driving control of vehicles.

[0283] The digital cockpit can be understood as the vehicle's intelligent cabin.

[0284] The following describes how the vehicle recognizes the parking scenario, determines the user's parking intention and user location, and remotely controls the vehicle parking using a mobile device.

[0285] 1. Explain the vehicle recognition parking scenario.

[0286] As shown in Figure 12, after a vehicle enters a parking lot, the automated assisted driving controller can identify parking spaces based on the surrounding images captured by the vehicle's cameras, as shown in Figure 12 by visual fusion detection. If an available parking space is identified through parking space recognition, the available space can be displayed on the cockpit screen in the digital cockpit, as shown in Figure 12 by the cockpit screen indicating a selected parking space. At this point, the vehicle can be determined to be in a parking scenario.

[0287] Furthermore, after identifying an available parking space, the user can be reminded to exit the vehicle through audio, visual, or electrical means. For example, a graphic or text message reminding the user to exit the vehicle can be displayed on the cockpit screen, or a voice message reminding the user to exit the vehicle can be played. Alternatively, the reminder can be provided on a mobile device, or simultaneously on the cockpit screen and the mobile device.

[0288] 2. Explain how to determine the user's parking intention and user positioning.

[0289] 1. Explain how to determine the user's parking intention.

[0290] Referring to FIG13 , after the vehicle determines that it is in a parking scene, it sends a first notification to the mobile device. As shown in FIG13 , the first notification includes the vehicle data exchange hub sending a message to the mobile device that the vehicle has selected a parking space, that is, the vehicle is in a parking scene; the vehicle data exchange hub performs UWB ranging with the mobile device to obtain ranging data, and also obtains the vehicle's body status data. The first notification may also include ranging data and body status data detected by the vehicle data exchange hub, wherein the above-mentioned ranging data is also the first ranging data in the aforementioned embodiment, and the first ranging data includes the first distance between the vehicle and the mobile device. In the example shown in FIG13 , the body status data may include a seat occupancy signal.

[0291] After receiving the first notification, the mobile device determines whether the user has gotten off the vehicle based on the distance measurement data in the first notification; if the user has gotten off the vehicle, the mobile device will send a notification to the vehicle, which is used to notify the vehicle that the user has arrived outside the vehicle and automatic parking is waiting to begin.

[0292] After receiving this notification, the Autopilot controller performs a pre-parking safety check, which includes checking whether the vehicle doors are closed and whether communication between the vehicle and the mobile device is functioning properly. If the doors are closed and communication is functioning properly, the Autopilot controller sends a parking readiness notification to the mobile device. Based on this notification, the mobile device determines that the doors are closed and communication is functioning properly, and thus, determines that the user intends to park.

[0293] 2. Explain user positioning.

[0294] Referring to FIG. 13 , after the mobile device determines that the user intends to park, the vehicle data exchange hub performs UWB ranging with the mobile device to obtain ranging data. This ranging data is the second ranging data in the aforementioned embodiment, which includes the second distance between the vehicle and the mobile device. The vehicle data exchange hub then sends a second notification to the mobile device, containing the aforementioned ranging data.

[0295] Optionally, after determining that the user has the intention to park, the mobile device may send a notification or message to the vehicle, thereby notifying the vehicle of the user's intention to park. As shown in FIG13 , after determining that the user has the intention to park, the mobile device may send a fifth notification to the vehicle.

[0296] In some other embodiments, the vehicle may also set a timer. When the vehicle does not receive a notification or message sent by the mobile device within the preset time, the vehicle considers that the user has the intention to park and may proceed with subsequent processes, such as sending a second notification to the mobile device.

[0297] After receiving the second notification, the mobile device performs an automatic parking start condition check. This automatic parking start condition check includes determining the user's location based on the second distance in the second notification and determining whether the user's location is within a preset threshold range. If the user's location is within the preset threshold range, it indicates that the user is far enough away from the vehicle that parking will not threaten the user's safety, and parking is possible.

[0298] After this, a parking start reminder can be sent via the mobile device, alerting the user that parking is about to begin. After the reminder ends and the mobile device is detected to be in use by the user, a third notification is sent to the automated driving controller, which may be an initiation of automated parking. Upon receiving the third notification, the automated driving controller controls the vehicle to automatically park.

[0299] In some implementations, the mobile device may display a parking safety reminder interface, on which parking reminder information is displayed.

[0300] Refer to Figure 14, which illustrates an exemplary parking safety reminder interface. This interface displays textual reminder information. For example, if you find yourself in a narrow parking space, encounter difficulties getting in or out of the vehicle, or find yourself with a trunk that won't open after parking, you can use remote parking to automatically maneuver into the space. In Figure 14, the vehicle diagram area can display a vehicle image. This vehicle image is not specifically limited in this embodiment and, therefore, is not shown in Figure 14.

[0301] 3. Explaining Remote Control of Vehicle Parking

[0302] Referring to Figure 15 , after the automated assisted driving controller controls the vehicle to automatically park, it obtains parking data from the parking process and sends a fourth notification containing the parking data to the mobile device. Subsequently, the vehicle data exchange hub can also control the vehicle to turn on the lights. After the mobile device receives the parking data, the user can control the mobile device to display the parking data. The user can also control the vehicle to pause or stop parking through the mobile device. Furthermore, the mobile device sends a link heartbeat packet to the vehicle, which is used to detect whether communication between the mobile device and the vehicle is normal.

[0303] The following describes how to control the vehicle to pause and stop parking.

[0304] 1. Explain how to control the vehicle to stop and park.

[0305] Referring to FIG. 15 , after the vehicle begins automatic parking, it performs UWB ranging with the mobile device to obtain ranging data. This ranging data is the third ranging data in the aforementioned embodiment, which includes a third distance between the vehicle and the mobile device. The vehicle then sends a fourth notification to the mobile device, which includes the aforementioned ranging data.

[0306] The mobile device determines the user's location based on the third distance in the fourth notification and determines whether the user's location is within a preset threshold range. If the user's location is not within the preset threshold range, it indicates that the user is relatively close to the vehicle, which may threaten the user's safety during parking. Therefore, the mobile device sends a pause parking instruction to the vehicle. The automatic assisted driving controller in the vehicle may control the vehicle to pause parking according to the pause parking instruction.

[0307] In addition, after the vehicle starts to park, the mobile device may also send a pause parking instruction to the vehicle in response to a pause operation by the user.

[0308] In some implementations, the mobile device may display a parking remote control interface, and the user may perform a pause operation on the parking remote control interface.

[0309] Referring to Figure 16 , FIG16 illustrates an exemplary parking remote control interface. This interface displays the parking path, which is indicated by text: "Go backward 9.2 meters" in FIG16 . Furthermore, this interface provides a control for pausing the parking operation, and indicates that the user can click this control to pause parking, as indicated by the "Click to pause" button in FIG16 .

[0310] Similar to the parking safety reminder interface shown in FIG14 , the vehicle schematic diagram area in FIG16 can display a vehicle image, and this embodiment does not specifically limit the vehicle image.

[0311] 2. Explain how to control the vehicle to stop and park.

[0312] Referring to FIG. 15 , after the vehicle starts automatic parking, the mobile device may send a stop parking instruction to the vehicle in response to the user's exit operation, and the automatic assisted driving controller in the vehicle may control the vehicle to stop parking according to the stop parking instruction.

[0313] In some implementations, the mobile device may display a parking remote control interface, and the user may perform an exit operation on the parking remote control interface.

[0314] In some implementations, the mobile device may send a stop parking instruction to the vehicle in response to a communication anomaly between the vehicle and the mobile device.

[0315] Referring again to FIG. 15 , after parking is completed, the vehicle may send a parking completion notification to the mobile device, which may display the notification to remind the user that parking is complete. For example, the notification may be displayed on the parking remote control interface.

[0316] In addition, after parking is complete, the vehicle automatically locks. As shown in Figure 15, the automated assisted driving controller sends a lock command to the vehicle data exchange hub. Upon receiving the lock command, the hub begins counting down, and the vehicle automatically locks after 10 seconds.

[0317] The following is a comparative description of the parking method provided by the present application and the parking method in the prior art, with reference to FIG17. In FIG17, Method 1 is the parking method provided by the present application, and Method 2 is the parking method in the prior art. Method 2 further provides two methods, 21 and 22.

[0318] 1. Explain method 1.

[0319] When the user drives to a parking spot, the vehicle automatically identifies an available parking space, the phone automatically determines the user's location, and the phone automatically determines that the user has exited the vehicle and the door is closed. When the user walks 3 meters from the vehicle with the phone, the phone notifies the user that the parking function is about to be activated. The phone then determines whether the distance between the user and the vehicle is within a safe distance and, if so, activates the parking function. The safe distance can be a preset threshold range in the aforementioned method embodiment.

[0320] During this process, users do not need to perform manual operations, and completely seamless parking is achieved, while effectively ensuring the safety of users.

[0321] 2. Explain method 2.

[0322] When the user drives to a parking space, the user drives the vehicle to search for a parking space by himself. After the user selects the target parking space where he can park, he clicks the automatic parking button in the vehicle.

[0323] In Method 21, after clicking the automatic parking button, the user exits the vehicle and walks to a preset location with the UWB digital key. The UWB digital key then remotely activates the parking function. This method relies entirely on the UWB digital key's location to determine whether the user is far away from the vehicle. However, being far away from the vehicle does not accurately indicate the user intended automatic parking. Therefore, this method is likely to violate the user's intent and mistakenly activate automatic parking, reducing parking safety. Furthermore, this method requires the user to search for a parking space and manually click the parking button, making the operation relatively cumbersome.

[0324] In Method 22, after clicking the automatic parking button, the user opens the mobile app used to remotely control the vehicle's automatic parking. This app displays a remote parking entry, which the user clicks to enter the vehicle control interface. This interface provides several interactive operations and the functions of each. If the user wants to activate the parking function, they must select the operation that activates the parking function from these interactive operations and then click it. This process is similar to the manual start based on interaction definition in Figure 17. This method not only requires the user to search for a parking space and manually click the parking button, but also requires frequent phone operations, making the process more cumbersome.

[0325] Through the above analysis, it can be determined that compared with the existing technology, the operation of this application is more convenient and safer.

[0326] The above is a description of an embodiment of a parking method implemented by a mobile device and a vehicle as the executing entities. The following describes embodiments of parking methods implemented by a mobile device and a vehicle as the executing entities, respectively.

[0327] An embodiment of a parking method implemented by a mobile device as the sole execution entity is described below.

[0328] Referring to FIG18 , FIG18 is a flow chart illustrating the main steps of a parking method according to an embodiment of the present application. As shown in FIG18 , the parking method in the embodiment of the present application mainly includes the following steps S501 to S504 .

[0329] Step S501: The mobile device receives a first notification sent by the vehicle.

[0330] The first notification includes first ranging data detected by the vehicle and vehicle body status data. The first notification is sent to the mobile device after the vehicle identifies that it is in a parking scene. The parking scene is identified by the vehicle based on environmental information of its own environment. The first ranging data includes a first distance between the vehicle and the mobile device.

[0331] Step S502: The mobile device determines whether the user of the mobile device has parking intention based on the first distance and the vehicle state data.

[0332] Step S503: The mobile device receives the second notification sent by the vehicle.

[0333] The second notification includes second distance measurement data detected by the vehicle. The second notification is sent by the vehicle to the mobile device after the mobile device determines that the user intends to park. The second distance measurement data includes a second distance between the vehicle and the mobile device.

[0334] Step S504: If the second distance is within a preset threshold range, the mobile device sends a third notification to the vehicle, and the third notification is used for the vehicle to start automatic parking.

[0335] Based on the method described in steps S501 to S504 above, user-free parking can be achieved and the user's safety during parking can be effectively guaranteed.

[0336] It should be noted that the implementation method of each step in the above method is the same as the relevant method in the method embodiment in which the mobile device and the vehicle are jointly executed, and will not be repeated here.

[0337] An embodiment of a parking method implemented by a vehicle alone as the executing entity is described below.

[0338] Referring to FIG. 19 , FIG. 19 is a flow chart illustrating the main steps of a parking method according to an embodiment of the present application. As shown in FIG. 19 , the parking method in the embodiment of the present application mainly includes the following steps S601 to S604 .

[0339] Step S601: The vehicle identifies whether it is in a parking scene based on environmental information of the environment in which it is located.

[0340] Step S602: If the vehicle is in a parking scenario, the vehicle sends a first notification to the mobile device.

[0341] The first notification includes first distance measurement data and vehicle body status data detected by the vehicle. The first distance measurement data includes a first distance between the vehicle and the mobile device. The first distance measurement data and the vehicle body status data are used by the mobile device to determine whether the user has parking intention.

[0342] Step S603: If the mobile device determines that the user intends to park, the vehicle sends a second notification to the mobile device.

[0343] The second notification includes second distance measurement data detected by the vehicle, the second distance measurement data includes a second distance between the vehicle and the mobile device, and the second distance measurement data is used by the mobile device to determine whether the second distance is within a preset threshold range.

[0344] Step S604: The vehicle receives the third notification sent by the mobile device and starts automatic parking according to the third notification.

[0345] The third notification is sent by the mobile device to the vehicle when the second distance is within a preset threshold range.

[0346] Based on the method described in steps S601 to S604 above, user-free parking can be achieved and the user's safety during the parking process can be effectively guaranteed.

[0347] It should be noted that the implementation method of each step in the above method is the same as the relevant method in the method embodiment in which the mobile device and the vehicle are jointly executed, and will not be repeated here.

[0348] It should be pointed out that although the various steps in the above embodiments are described in a specific order, those skilled in the art will understand that in order to achieve the effect of the present application, different steps do not have to be performed in such an order. They can be performed simultaneously (in parallel) or in other orders. These adjusted solutions are equivalent to the technical solutions described in this application, and therefore will also fall within the scope of protection of this application.

[0349] It will be understood by those skilled in the art that all or part of the processes in the method for implementing the above embodiment of the present application can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium can include: any entity or device, medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium that can carry the computer program code. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0350] Another aspect of the present application provides a computer-readable storage medium.

[0351] In one embodiment of a computer-readable storage medium according to the present application, the computer-readable storage medium may be configured to store a program for executing the parking method of the aforementioned method embodiment. This program may be loaded and executed by a processor to implement the aforementioned parking method. For ease of illustration, only the portions relevant to the present embodiment are shown; for specific technical details not disclosed, please refer to the method section of the present embodiment. The computer-readable storage medium may be a storage device formed from various electronic devices. Optionally, in the embodiments of the present application, the computer-readable storage medium is non-transitory.

[0352] Another aspect of the present application provides a mobile device.

[0353] In an embodiment of a mobile device according to the present application, the mobile device may include at least one processor; and a memory in communication with the at least one processor; wherein a computer program is stored in the memory, and when the computer program is executed by the at least one processor, the method described in any of the above embodiments is implemented. The mobile device may be, but is not limited to, a mobile phone, a tablet computer, a desktop computer, a laptop computer, a handheld computer, a notebook computer, a vehicle-mounted device, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), an augmented reality (AR) or virtual reality (VR) device, etc., and the embodiments of the present application are not limited to this. Referring to Figure 20, Figure 20 exemplarily shows that the memory 11 and the processor 12 are in communication with each other via a bus.

[0354] In some embodiments of the present application, the mobile device may further include at least one sensor, which is configured to sense information and is communicatively connected to any type of processor mentioned in the present application.

[0355] Another aspect of the present application provides a vehicle.

[0356] In one embodiment of a vehicle according to the present application, the vehicle may include at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program that, when executed by the at least one processor, implements the method described in any of the above embodiments. The vehicle may be a mobile intelligent device, such as an electric vehicle, a gasoline / diesel vehicle, or a smart car. Referring to FIG. 21 , FIG. 21 exemplarily illustrates a memory 21 and a processor 22 communicatively connected via a bus.

[0357] In some embodiments of the present application, the vehicle may further include at least one sensor for sensing information. The sensor is communicatively coupled to any of the types of processors described herein. Optionally, the vehicle may further include an autonomous driving system for guiding the vehicle to drive itself or provide assisted driving. The processor communicates with the sensor and / or the autonomous driving system to perform the method described in any of the above embodiments.

[0358] Thus far, the technical solution of the present application has been described in conjunction with an embodiment shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present application.

Claims

1. A parking method, characterized in that: Applied to a mobile device, the method includes: receiving a first notification sent by a vehicle, the first notification including first ranging data detected by the vehicle and vehicle body status data, the first notification being sent by the vehicle to the mobile device after the vehicle identifies itself as being in a parking scenario, the parking scenario being identified by the vehicle based on environmental information of its environment, and the first ranging data including a first distance between the vehicle and the mobile device; determining, based on the first distance and the vehicle state data, whether the user of the mobile device has parking intention; receiving a second notification sent by the vehicle, the second notification including second ranging data detected by the vehicle, the second notification being sent by the vehicle to the mobile device after the mobile device determines that the user intends to park, the second ranging data including a second distance between the vehicle and the mobile device; If the second distance is within a preset threshold range, a third notification is sent to the vehicle, where the third notification is used for the vehicle to start automatic parking.

2. The method according to claim 1, characterized in that The vehicle state data includes door state data, and determining whether the user of the mobile device has parking intention based on the first distance and the vehicle state data includes: determining, based on the first distance, whether the user has gotten off the vehicle; If the user gets off the vehicle, determining whether the vehicle door is closed based on the door status data; If the door of the vehicle is closed, it is determined that the user intends to park the vehicle.

3. The method according to claim 2, characterized in that The method further comprises: After determining that the user has gotten off the vehicle, if the vehicle door is closed and communication between the vehicle and the mobile device is normal, it is determined that the user has an intention to park the vehicle.

4. The method according to claim 2, characterized in that The determining, based on the first distance, whether the user has gotten off the vehicle includes: determining, based on the first distance, whether the device position of the mobile device has switched from inside the vehicle to outside the vehicle; If the device position is switched from inside the vehicle to outside the vehicle, and it is detected that the seat occupancy signal of the vehicle is lost, it is determined that the user has gotten off the vehicle.

5. The method according to any one of claims 1 to 4, characterized in that The vehicle is provided with a plurality of UWB nodes, the UWB nodes being used to perform UWB ranging with the mobile device to obtain a ranging distance between the UWB node and the mobile device, the second distance including the ranging distance obtained by each of the UWB nodes, and the method further comprising: With the position of each UWB node as the center of the circle and the ranging distance obtained by each UWB node as the radius, a circular area corresponding to each UWB node is formed; Obtaining intersection points of circular areas corresponding to all UWB nodes, and obtaining a user position of the user relative to the vehicle based on positions of the intersection points; If the user location is within the preset threshold range, the third notification is sent to the vehicle.

6. The method according to any one of claims 1 to 5, characterized in that The mobile device is provided with a proximity sensor, and the sending of the third notification to the vehicle includes: Acquiring distance data collected by the short-range sensor; determining, based on the distance data, whether the mobile device is being used by a user; If the mobile device is used by the user, the third notification is sent to the vehicle.

7. The method according to any one of claims 1 to 6, characterized in that After the vehicle starts automatic parking, the method further includes: receiving parking data sent by the vehicle, the parking data including a parking path, obstacle information, and parking progress during the automatic parking process of the vehicle; In response to a display operation by a user, the parking data selected by the display operation is displayed.

8. The method according to any one of claims 1 to 7, characterized in that After the vehicle starts automatic parking, the method further includes: In response to a pause operation by a user, sending a pause parking instruction to the vehicle, wherein the pause parking instruction is used to control the vehicle to pause automatic parking; and / or, receiving a fourth notification sent by the vehicle, the fourth notification including third distance measurement data detected by the vehicle, the fourth notification being sent by the vehicle to the mobile device after starting automatic parking, the third distance measurement data including a third distance between the vehicle and the mobile device; If the third distance is not within the preset threshold range, the pause parking instruction is sent to the vehicle.

9. The method according to any one of claims 1 to 8, characterized in that After the vehicle starts automatic parking, the method further includes: In response to an exit operation by a user, sending a stop parking instruction to the vehicle, wherein the stop parking instruction is used to control the vehicle to stop automatic parking; and / or, In response to a communication anomaly between the vehicle and the mobile device, the stop parking instruction is sent to the vehicle.

10. The method according to any one of claims 1 to 9, characterized in that The mobile device establishes communication with the vehicle in the following manner: Receiving a Bluetooth signal broadcast by the vehicle, the Bluetooth signal including a Bluetooth UUID, the Bluetooth UUID including a UWB character, the character value of the UWB character being used to indicate whether the vehicle can perform UWB ranging; Parsing the Bluetooth signal to obtain a character value of the UWB character in the Bluetooth signal; Determining whether the vehicle can perform UWB ranging according to the parsed character value; If the vehicle is capable of UWB ranging, sending a Bluetooth connection request to the vehicle, so that the vehicle establishes a Bluetooth connection with the mobile device according to the Bluetooth connection request; The Bluetooth connection is used to authenticate the identity of the vehicle and establish an encrypted Bluetooth communication channel.

11. A parking method, characterized in that: Applied to a vehicle, the method comprises: identifying whether the vehicle is in a parking scenario based on environmental information of the vehicle's environment; If the vehicle is in a parking scenario, a first notification is sent to a mobile device, where the first notification includes first distance measurement data detected by the vehicle and vehicle body status data of the vehicle, where the first distance measurement data includes a first distance between the vehicle and the mobile device, and the first distance measurement data and the vehicle body status data are used by the mobile device to determine whether the user intends to park. If the mobile device determines that the user intends to park, a second notification is sent to the mobile device, where the second notification includes second distance measurement data detected by the vehicle, where the second distance measurement data includes a second distance between the vehicle and the mobile device, and the second distance measurement data is used by the mobile device to determine whether the second distance is within a preset threshold range; A third notification sent by the mobile device is received, and automatic parking is started according to the third notification, wherein the third notification is sent by the mobile device to the vehicle when the second distance is within the preset threshold range.

12. The method according to claim 11, characterized in that The vehicle is provided with a sensor, the environmental information includes environmental data collected by the sensor, and the identifying whether the vehicle is in a parking scene based on the environmental information of the environment in which the vehicle is located includes: In response to the vehicle entering the parking lot, performing parking space recognition on the environmental data; If it is identified that there is an available parking space for the vehicle in the parking lot, it is determined that the vehicle is in a parking scene.

13. The method according to claim 11 or 12, characterized in that After starting the automatic parking, the method further includes: pausing automatic parking in response to a pause parking instruction from the mobile device; in, The pause parking instruction is sent by the mobile device to the vehicle in response to a pause operation by the user; and / or, The pause parking instruction is sent by the mobile device to the vehicle in response to the third distance not being within the preset range; The third distance is a distance in third distance measurement data detected by the vehicle after the vehicle starts automatic parking, and the distance is the distance between the vehicle and the mobile device.

14. The method according to any one of claims 11 to 13, characterized in that After starting the automatic parking, the method further includes: stopping automatic parking in response to a stop parking instruction from the mobile device; in, The stop parking instruction is sent by the mobile device to the vehicle in response to an exit operation by the user; and / or, The stop parking instruction is sent by the mobile device to the vehicle in response to a communication abnormality between the vehicle and the mobile device.

15. The method according to any one of claims 11 to 14, wherein the vehicle establishes communication with the mobile device in the following manner: Broadcasting a Bluetooth signal, the Bluetooth signal including a Bluetooth UUID, the Bluetooth UUID including a UWB character, the character value of the UWB character being used to indicate whether the vehicle can perform UWB ranging; In response to a Bluetooth connection request from the mobile device, establishing a Bluetooth connection with the mobile device according to the Bluetooth connection request; Performing identity authentication with the mobile device through the Bluetooth connection and establishing an encrypted Bluetooth communication channel; in, The Bluetooth connection request is sent to the vehicle after the mobile device determines that the vehicle is capable of UWB ranging. The vehicle is capable of UWB ranging after the mobile device parses the Bluetooth signal and determines based on the character value of the UWB character in the Bluetooth signal.

16. A mobile device, characterized in that: include: at least one processor; and, a memory communicatively coupled to the at least one processor; The memory stores a computer program, and when the computer program is executed by the at least one processor, the parking method according to any one of claims 1 to 10 is implemented.

17. A vehicle, characterized in that: include: at least one processor; and, a memory communicatively coupled to the at least one processor; The memory stores a computer program, and when the computer program is executed by the at least one processor, the parking method according to any one of claims 11 to 15 is implemented.

18. A computer-readable storage medium storing a plurality of program codes, characterized in that: The program code is suitable for being loaded and run by a processor to execute the parking method according to any one of claims 1 to 15.

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