Parking method and apparatus, and vehicle

Abstract

A parking method and apparatus, and a vehicle. The method can be applied to the field of intelligent driving. The method comprises: in the process of a vehicle being automatically parked in a target parking space by means of a parking trajectory, acquiring predicted trajectories of other vehicles; when it is determined, on the basis of the parking trajectory and the predicted trajectories, that the vehicle and other vehicles are about to be interlocked, acquiring a temporary parking pose; and controlling the vehicle to travel from a current position to the temporary parking pose. The method can be applied to intelligent vehicles or electric vehicles, can improve the parking efficiency of vehicles, and can improve the parking experience of users.

Description

Parking method, device and vehicle

[0001] This application claims priority to the Chinese patent application No. 202410465640.3, filed on April 17, 2024, entitled “Parking method, device and vehicle”, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

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

[0003] Auto parking (AP) refers to automatic parking of a vehicle into a parking space, i.e., an automatic driving system can semi-automatically or fully-automatically help a user to park the vehicle. Auto parking can include auto parking assist (APA), remote parking assist (RPA), and auto valet parking (AVP), etc.

[0004] In the process of automatically parking the vehicle into a target parking space, the vehicle can interact with other dynamic vehicles. In some scenarios, the user can need to take over, thereby affecting the user's parking experience. SUMMARY

[0005] The present application provides a parking method, device and vehicle, which helps to improve the parking efficiency of the vehicle and the user's parking experience.

[0006] In a first aspect, the present application provides a parking method, comprising: obtaining a predicted trajectory of another vehicle in a process that a vehicle automatically parks into a target parking space through a parking trajectory; obtaining a temporary parking pose when it is determined that the vehicle and the another vehicle are about to interact and lock up according to the parking trajectory and the predicted trajectory; and controlling the vehicle to drive from a current position to the temporary parking pose.

[0007] Based on the above technical solution, the vehicle can obtain a temporary parking pose and control the vehicle to drive from a current position to the temporary parking pose in time when it is determined that the vehicle and the another vehicle can interact and lock up in a future period of time based on the parking trajectory of the vehicle and the predicted trajectory of the another vehicle. In this way, the occurrence of the interactive lock-up state can be avoided in the process of automatic parking, which helps to improve the parking efficiency of the vehicle and reduce the time required for automatic parking. At the same time, the user can also avoid taking over the vehicle in the process of automatic parking of the vehicle, which helps to improve the user's parking experience.

[0008] In some possible implementation manners, the parking trajectory comprises a driving trajectory of the vehicle in a future period of time, and the predicted trajectory comprises a driving trajectory of the other vehicle in the future period of time.

[0009] In some possible implementation manners, the method further includes: obtaining a state of the other vehicle; and determining the predicted trajectory of the other vehicle according to the state of the other vehicle.

[0010] In some possible implementation manners, the determining that the vehicle and the other vehicle are about to interact with each other to be locked comprises: determining, according to the parking trajectory and the predicted trajectory, that the vehicle and the other vehicle interact with each other to be locked at a second time point, the second time point being later than a first time point.

[0011] In some possible implementation manners, the obtaining of the temporary parking pose comprises: obtaining a temporary parking pose suitable for the vehicle at the first time point.

[0012] In some possible implementation manners, the temporary parking pose suitable for the vehicle can be understood as a temporary parking pose existing around the vehicle at the first time point, so that the vehicle will not interact with the other vehicle to be locked after driving to the temporary parking pose.

[0013] In some possible implementation manners, the interaction of the vehicle and the other vehicle to be locked can be understood as that the vehicle is stopped by the other vehicle, or the vehicle and the other vehicle cannot drive according to the intended purpose.

[0014] With reference to the first aspect, in some possible implementation manners of the first aspect, before the obtaining of the predicted trajectory of the other vehicle, the method further includes: determining that the vehicle and the other vehicle are driving towards each other.

[0015] Based on the above technical solution, in the process of automatic parking of the vehicle, the other vehicle driving towards the vehicle can be selected from a plurality of vehicles around the vehicle, and then whether the vehicle and the other vehicle will interact with each other to be locked in a future period of time can be determined according to the parking trajectory of the vehicle and the predicted trajectory of the other vehicle.

[0016] In some possible implementation manners, before the obtaining of the predicted trajectory of the other vehicle, the method further includes: determining that an included angle between a heading direction of the vehicle and a heading direction of the other vehicle is within a preset included angle range.

[0017] For example, the preset included angle range is (-45°, 45°).

[0018] With reference to the first aspect, in some implementations of the first aspect, determining that the vehicle and the other vehicle are driving towards each other comprises: determining that the vehicle and the other vehicle are driving towards each other according to speed directions of the other vehicle and the vehicle; and / or determining that the vehicle and the other vehicle are driving towards each other according to projections of the other vehicle and the vehicle on a navigation line (router line).

[0019] In some possible implementations, the navigation line can be determined by a lane center line.

[0020] For example, the navigation line is a road center line in front of a driving track of the vehicle.

[0021] With reference to the first aspect, in some implementations of the first aspect, before obtaining the predicted trajectory of the other vehicle, the method further comprises: determining that the speed of the vehicle is less than or equal to a preset speed.

[0022] Based on the above technical solution, the vehicle can first determine that the speed is less than the preset speed before judging whether the vehicle will interact with the other vehicle in the future. In this way, when the speed of the vehicle is low, it indicates that the distance between the vehicle and the other vehicle is close, and the judgment is performed at this time, which helps to save the computing overhead of the vehicle.

[0023] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: when it is detected that the other vehicle is located outside a preset field of view range of the vehicle, controlling the vehicle to stop driving to the temporary parking pose and continue parking into the target parking space.

[0024] Based on the above technical solution, when the vehicle determines that the other vehicle is outside the preset field of view range, the vehicle can stop driving to the temporary parking pose and return to continue automatic parking. In this way, the vehicle does not need to return to continue parking after driving to the temporary parking pose, which helps to improve the parking efficiency of the vehicle, reduce the automatic parking time, and improve the parking experience of the user.

[0025] In some possible implementations, the preset field of view range includes a distance range ahead of a current location of the vehicle.

[0026] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: when it is detected that the vehicle and the other vehicle are staggered, controlling the vehicle to stop driving to the temporary parking pose and continue parking into the target parking space.

[0027] Based on the above technical solution, when the vehicle determines that the other vehicle and the vehicle are staggered, the vehicle can stop temporary parking and return to continue cruising. In this way, the vehicle does not need to return to continue parking after driving to the temporary parking pose, which helps to improve the parking efficiency of the vehicle, reduce the automatic parking time, and improve the parking experience of the user.

[0028] In some possible implementation manners, the vehicle is staggered with the other vehicle in one of the following manners: the vehicle is staggered with the other vehicle in the same direction, the vehicle is staggered with the other vehicle in the opposite direction, or the vehicle is staggered with the other vehicle in a static state.

[0029] With reference to the first aspect, in some possible implementation manners of the first aspect, the method further includes: determining that the other vehicle and the vehicle are staggered, according to the projection of the other vehicle and the vehicle on the navigation line being overlapped.

[0030] With reference to the first aspect, in some possible implementation manners of the first aspect, the method further includes: when it is detected that the other vehicle is in a static state for a time duration greater than a preset time duration, controlling the vehicle to stop driving to the temporary parking pose and continue parking into the target parking space.

[0031] Based on the technical solution described above, when the vehicle determines that the other vehicle is in a static state (at this time, the other vehicle can be understood as a static obstacle) for a time duration greater than a preset time duration, it can be determined that the other vehicle yields to the vehicle. At this time, the vehicle can stop driving to the temporary parking pose and continue parking into the target parking space.

[0032] In some possible implementation manners, the method further includes: when it is detected that the other vehicle is in a static state for a time duration greater than a preset time duration, the vehicle can first perform a self-rescue operation and continue parking into the target parking space after the self-rescue.

[0033] In some possible implementation manners, the method further includes: when it is detected that, during driving of the vehicle to the temporary parking pose, the other vehicle does not drive according to the predicted route and the other vehicle drives according to an updated predicted route and will not interact with the vehicle to be locked, controlling the vehicle to stop driving to the temporary parking pose and continue parking into the target parking space.

[0034] Based on the technical solution described above, when the vehicle drives to the temporary parking pose, if it is found that the other vehicle does not drive according to the initially determined predicted trajectory and will not interact with the vehicle to be locked after driving according to the updated predicted trajectory, the vehicle can stop driving to the temporary parking pose and return to continue automatic parking. In this way, through real-time monitoring of the predicted trajectory of the other vehicle, the parking efficiency of the vehicle is improved, the automatic parking time is reduced, and the user's parking experience is improved.

[0035] With reference to the first aspect, in some possible implementation manners of the first aspect, before the predicted trajectory of the other vehicle is acquired, the method includes: acquiring a first instruction of a user, the first instruction being used to instruct to start an automatic valet parking (AVP) function.

[0036] In a second aspect, the present application provides a parking device, comprising: an acquisition unit configured to acquire a predicted trajectory of another vehicle during automatic parking of a vehicle into a target parking space via a parking trajectory; a determination unit configured to acquire a temporary parking pose when it is determined that the vehicle and the another vehicle are about to interact with each other according to the parking trajectory and the predicted trajectory; and a control unit configured to control the vehicle to drive from a current position to the temporary parking pose.

[0037] With reference to the second aspect, in some implementations of the second aspect, the determination unit is further configured to determine that the vehicle and the another vehicle are driving towards each other before the acquisition unit acquires the predicted trajectory of the another vehicle.

[0038] With reference to the second aspect, in some implementations of the second aspect, the determination unit is specifically configured to determine that the vehicle and the another vehicle are driving towards each other according to a speed direction of the another vehicle and the vehicle, and / or according to a projection of the another vehicle and the vehicle on a navigation line.

[0039] With reference to the second aspect, in some implementations of the second aspect, the determination unit is further configured to determine that a speed of the vehicle is less than or equal to a preset speed before the acquisition unit acquires the predicted trajectory of the another vehicle.

[0040] With reference to the second aspect, in some implementations of the second aspect, the determination unit is further configured to determine that the another vehicle is located outside a preset field of view of the vehicle, and the control unit is further configured to control the vehicle to stop driving to the temporary parking pose and continue to park into the target parking space.

[0041] With reference to the second aspect, in some implementations of the second aspect, the determination unit is further configured to determine that the vehicle and the another vehicle are staggered, and the control unit is further configured to control the vehicle to stop driving to the temporary parking pose and continue to park into the target parking space.

[0042] With reference to the second aspect, in some implementations of the second aspect, the determination unit is specifically configured to determine that the vehicle and the another vehicle are staggered according to a projection of the another vehicle and the vehicle on a navigation line.

[0043] With reference to the second aspect, in some implementations of the second aspect, the determination unit is further configured to determine that the another vehicle is in a static state for a time period greater than a preset time period, and the control unit is further configured to control the vehicle to stop driving to the temporary parking pose and continue to park into the target parking space.

[0044] With reference to the second aspect, in some implementations of the second aspect, the acquisition unit is further configured to acquire a first instruction of a user before acquiring the predicted trajectory of the another vehicle, the first instruction being used to instruct to start an automatic valet parking (AVP) function.

[0045] In a third aspect, the present application provides a parking device, comprising a processor and a memory, wherein the memory is configured to store instructions, and the processor is configured to execute the instructions stored in the memory, so that the device executes any possible method in the first aspect.

[0046] In a fourth aspect, the present application provides a vehicle comprising any possible device in the second aspect or the third aspect.

[0047] In a fifth aspect, the present application provides a computer program product, comprising computer program codes, when the computer program codes are executed on a computer, the computer is caused to execute any possible method in the first aspect.

[0048] It should be noted that the above computer program codes can be stored on a first storage medium in whole or in part, wherein the first storage medium can be packaged together with the processor, or packaged separately from the processor, and the embodiments of the present application do not make a specific limitation in this regard.

[0049] In a sixth aspect, the present application provides a computer readable storage medium, which stores computer program codes, when the computer program codes are executed on a computer, the computer is caused to execute any possible method in the first aspect.

[0050] In a seventh aspect, the present application provides a chip system, comprising a processor, configured to invoke computer programs or computer instructions stored in a memory, so that the processor executes any possible method in the first aspect.

[0051] In combination with the seventh aspect, in a possible implementation manner, the processor is coupled with the memory through an interface.

[0052] In combination with the seventh aspect, in a possible implementation manner, the chip system further comprises the memory, and the memory stores the computer programs or the computer instructions.

[0053] In an eighth aspect, the present application provides a chip, comprising a circuit, configured to execute any possible method in the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0054] FIG. 1 is a functional block diagram of a vehicle according to an embodiment of the present application;

[0055] FIG. 2 is a schematic diagram of a system architecture according to an embodiment of the present application;

[0056] FIG. 3 is a schematic flowchart of a parking method according to an embodiment of the present application;

[0057] FIGS. 4-6 are schematic diagrams of parking scenarios according to embodiments of the present application;

[0058] FIG. 7 is another schematic diagram of a parking scenario according to embodiments of the present application;

[0059] FIG. 8 is another schematic flowchart of a parking method according to embodiments of the present application;

[0060] FIG. 9 is another schematic diagram of a parking scenario according to embodiments of the present application;

[0061] FIG. 10 is another schematic flowchart of a parking method according to embodiments of the present application;

[0062] FIG. 11 is another schematic diagram of a parking scenario according to embodiments of the present application;

[0063] FIGS. 12-14 are another schematic diagram of a parking scenario according to embodiments of the present application;

[0064] FIG. 15 is another schematic flowchart of a parking method according to embodiments of the present application;

[0065] FIG. 16 is another schematic diagram of a parking scenario according to embodiments of the present application;

[0066] FIG. 17 is a schematic block diagram of a parking device according to embodiments of the present application. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; in this document, "and / or" is merely a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there can be three relationships, for example, A and B, and B alone. "At least one" means one or more. For example, "at least one of A and B" is similar to "A and / or B", which describes the association relationship between the associated objects, which means that there can be three relationships, for example, A and B, and B alone.

[0068] The prefix words such as "first", "second" are used in the embodiments of the present application only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefix words such as ordinal numbers in the embodiments of the present application does not constitute a limitation on the described objects, and the description of the described objects should be referred to the description in the context of claims or embodiments, and should not constitute redundant limitations because of the use of such prefix words. In addition, in the description of the embodiments, unless otherwise stated, the meaning of "plurality" is two or more.

[0069] FIG. 1 is a functional block diagram of a vehicle 100 according to an embodiment of the present application. The vehicle 100 can include a perception system 110, a computing platform 120, and a display device 130, wherein the perception system 110 can include one or more sensors that sense information about the environment surrounding the vehicle 100. For example, the perception system 110 can include a positioning system, which can be a global positioning system (GPS), a Beidou system, or other positioning systems. For another example, the perception system 110 can include one or more of an inertial measurement unit (IMU), an acceleration sensor, a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0070] Some or all functions of the vehicle 100 can be controlled by the computing platform 120. The computing platform 120 can include one or more processors, such as processors 121 through 12n (n is a positive integer), which are circuits having a processing capability of signals. In one implementation, the processors can be circuits having an instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a kind of microprocessor), a digital signal processor (DSP), or the like. In another implementation, the processors can be circuits having a certain function implemented by a logic relationship of hardware circuits, which is fixed or reconfigurable. For example, the processors can be hardware circuits implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In the reconfigurable hardware circuit, the processor loads a configuration document to implement the hardware circuit configuration. It can be understood that the processor loads instructions to implement the functions of the above units. In addition, the processors can also be hardware circuits designed for artificial intelligence, which can be understood as a kind of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), or the like. In addition, the computing platform 120 can also include a memory for storing instructions, and some or all of the processors 121 through 12n can call the instructions in the memory to implement corresponding functions.

[0071] The display device 130 in the cabin is mainly divided into two categories, the first category is a vehicle display screen, and the second category is a projection display screen, such as a head up display (HUD). The vehicle display screen is a physical display screen and is an important component of the in-vehicle infotainment system. Multiple display screens can be provided in the cabin, such as a digital instrument display screen, a center control screen, a display screen in front of a passenger (also referred to as a front passenger) at a co-driver position, a display screen in front of a left rear passenger, and a display screen in front of a right rear passenger, and even a vehicle window can be used as a display screen for display. The head up display, also referred to as a head-up display system, is mainly used for displaying driving information such as speed, navigation, etc. on a display device (such as a windshield) in front of the driver. This reduces the time for the driver to change the line of sight and avoids changes in the pupil caused by the driver changing the line of sight, thereby improving driving safety and comfort. The HUD includes, for example, a combiner-HUD (C-HUD) system, a windshield-HUD (W-HUD) system, and an augmented reality HUD (AR-HUD). It should be understood that other types of systems can also appear as the technology evolves, and the present application does not limit this.

[0072] The above display device 130 is described by way of example of a vehicle display screen and a projection display screen, and embodiments of the present application are not limited thereto. For example, the display device 130 can also be a light display screen or a projection screen.

[0073] The vehicle 100 can include an advanced driving assistant system (ADAS) that utilizes various sensors (including but not limited to: lidar, millimeter wave radar, camera, ultrasonic sensor, global positioning system, inertial measurement unit) on the vehicle to acquire information from the surroundings of the vehicle, and analyzes and processes the acquired information to achieve functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring / alerting, etc., thereby improving the safety, automation level, and comfort of vehicle driving. At different levels of autonomous driving (L0-L5), the ADAS can achieve different levels of autonomous driving assistance based on artificial intelligence algorithms and information acquired by multiple sensors. The above-mentioned levels of autonomous driving (L0-L5) can be based on the classification standard of the Society of Automotive Engineers (SAE). Among them, L0 level is no automation; L1 level is driving assistance; L2 level is partial automation; L3 level is conditional automation; L4 level is high automation; L5 level is full automation. The tasks of monitoring the road conditions and reacting are completed by the driver and the system together at L1 to L3 levels, and the driver needs to take over the dynamic driving task. L4 and L5 levels can let the driver completely change into the role of a passenger. For example, for APA, the driver does not need to manipulate the steering wheel, but still needs to manipulate the accelerator and brake on the vehicle; for RPA, the driver can use a terminal (such as a mobile phone) to remotely control the parking of the vehicle outside the vehicle; for AVP, the vehicle can complete parking without a driver. In terms of the corresponding level of autonomous driving, APA is approximately at the level of L1, RPA is approximately at the level of L2-L3, and AVP is approximately at the level of L4.

[0074] For example, FIG. 2 shows a schematic diagram of a system architecture provided by an embodiment of the present application. The system architecture includes the ADAS and the hardware of the vehicle. In terms of logical functions, the ADAS can include three main functional modules: a perception system 110, a planning system 220, and a control system 230. The perception system 110 perceives the environment around the vehicle body through sensors and inputs corresponding real-time data to the planning system 220. The planning system 220 plans a parking trajectory based on the information acquired by the perception module 210 and sends the planned parking trajectory to the control system 230. The control system 230 receives the information of the parking trajectory from the planning system 220 and controls the vehicle based on the parking trajectory. For example, the control system 230 can control the hardware of the vehicle, so that the vehicle changes lanes, turns, brakes, etc.

[0075] In the embodiments of the present application, the perception system 110 can perceive the environmental information (e.g., including other dynamic vehicles, static vehicles, pedestrians, pillars, cones, and other interactive or non-interactive obstacles) around the vehicle 100 and send the information to the planning system 220 for further processing. The planning system 220 can plan a parking trajectory capable of completing an end-to-end task based on a map (e.g., the map can be a map recorded when the AVP function is first used, which includes scanned lanes and parking spaces, etc.) and the environmental information, and send the parking trajectory to the control system 230. After receiving the information from the planning system 220, the control system 230 sends control instructions to the hardware of the vehicle to perform actual closed-loop vehicle control. The embodiments of the present application make relevant improvements in the planning system 220, and through the environmental information, it can be determined how to trigger temporary parking or escape during the parking process.

[0076] The planning system 220 and the control system 230 described above can be located in the computing platform 120 described above.

[0077] In one embodiment, the vehicle 100 can also interact with an electronic device (e.g., a mobile phone) through a network. The electronic device can provide an interactive interface for selecting a target parking space to be parked through a map, and can monitor a dynamic interface and a global path traveled by the vehicle during dynamic planning in real time. The scenarios involved in the embodiments of the present application can be a park or a parking lot in which the AVP function is used for automatic parking, especially the interactive lock-in scenarios during the interaction of dynamic obstacles or static obstacles in automatic parking.

[0078] For example, in the AVP scenario, when the vehicle encounters a static obstacle during the cruising phase, the vehicle can perform a forward escape action or a reverse escape action in the case that the vehicle is stuck. After the avoidance or obstacle avoidance is completed, the vehicle returns to the cruising state. For example, if the vehicle is automatically parked by the AVP function, the vehicle can be automatically parked in a cruising phase and a parking phase. The cruising phase refers to the phase in which the vehicle travels from the starting position to the vicinity of the target parking space, and the parking phase refers to the phase in which the vehicle parks into the target parking space after reaching the vicinity of the target parking space.

[0079] For example, FIG. 3 shows a schematic flowchart of a parking method 300 provided by the embodiments of the present application. The method 300 includes:

[0080] S301, controlling the vehicle to travel according to a first parking trajectory.

[0081] For example, when the user turns on the AVP function, the vehicle can plan a first parking trajectory from the current position to the target parking space. The vehicle can travel from the current position to the target parking space according to the first parking trajectory.

[0082] For example, the first parking trajectory can be a driving trajectory recorded by the vehicle before from the current position to the target parking space.

[0083] In S302, it is judged whether the recognized obstacle is a roadblock or a freespace.

[0084] For example, the roadblock can be a water barrier, a cone barrel, etc.

[0085] For example, if the recognized roadblock, S304 is executed; otherwise, S303 is executed.

[0086] In S303, it is judged whether the recognized obstacle is a static vehicle.

[0087] For example, if the recognized static obstacle, S304 is executed; otherwise, the process returns to continue S301.

[0088] In S304, it is judged whether the vehicle can pass the obstacle according to the first parking trajectory.

[0089] For example, if the vehicle determines that it can pass the obstacle according to the first parking trajectory, the process returns to continue S301; otherwise, S305 is executed.

[0090] In S305, it is judged whether the vehicle is stuck for a time greater than a first preset time.

[0091] For example, the first preset time is 2s.

[0092] For example, if the vehicle is stuck for a time greater than the first preset time, S306 is executed; otherwise, S304 is executed.

[0093] In S306, the vehicle triggers the escape and executes the escape action.

[0094] Optionally, when the vehicle is stuck for a time greater than the first preset time, the vehicle triggers the escape and fails, the method 300 further includes: after a second preset time from the escape failure, the vehicle can continue to trigger the escape and execute the escape action. For example, the second preset time is 60s.

[0095] When the vehicle is stuck for a time greater than the second preset time, the vehicle can trigger the bottom escape.

[0096] Optionally, the vehicle executes the escape action, including: the vehicle executes a forward escape action and / or a reverse escape action.

[0097] For example, FIGS. 4-6 show a schematic diagram of a parking scenario provided by an embodiment of the application.

[0098] As shown in FIG. 4, during the process of automatic parking by the AVP function, the vehicle 100 needs to pass through an intersection and turn left in the cruising phase. During the left turn of the vehicle 100, a static obstacle (for example, a cone barrel) is detected, causing the vehicle 100 to be stuck.

[0099] As shown in FIG. 5, when the vehicle 100 is stuck for more than 2s, the vehicle can trigger the execution of the escape action 1 (for example, the escape action 1 is that the vehicle first switches to R gear and right turns the steering wheel to back up, and then switches to D gear and left turns the steering wheel to drive forward). After the escape action 1 is executed and the escape is completed, the vehicle can continue to return to the cruising phase.

[0100] As shown in FIG. 6, if the vehicle is still stuck by the cone barrel after the escape action 1 is executed. Then after the vehicle is stuck for more than 60s, the vehicle can execute the escape action 2 (for example, the escape action 1 is that the vehicle first switches to R gear and right turns the steering wheel to back up, and then switches to D gear and left turns the steering wheel to drive forward). After the escape action 2 is executed and the escape is completed, the vehicle can continue to return to the cruising phase.

[0101] In the scenario of automatic parking by the AVP function or in the scenario of no recall by the human, there is a problem that the vehicle is stuck due to the static obstacle blocking or the road changing, causing the vehicle to avoid the obstacle. Therefore, the path planning escape caused by the static obstacle can be considered in the automatic parking process, realizing automatic obstacle avoidance or obstacle bypassing. The vehicle can determine whether the static obstacle is a blocking obstacle that blocks the vehicle from driving according to the planned parking trajectory according to the type of the static obstacle perceived by the perception system, so as to determine whether the vehicle has passability on the planned parking trajectory, and whether there is a deviation in control tracking caused by kinematic planning. The vehicle can determine whether the blocking obstacle causes the vehicle to be stuck when the vehicle drives along the parking trajectory, so as to determine whether to trigger the escape. The escape means switching from the cruising state to the parking state, and triggering the vehicle to execute the escape action until the escape is completed and the cruising state is returned. The key to triggering the escape is the correct triggering time of the escape and the avoidance of the false triggering of the escape, so that the dynamic obstacles in the perception range that cause the vehicle to stop, such as movable vehicles, vulnerable road users (VRU), etc. can be excluded. Finally, for other abnormal situations that cause the vehicle to be stuck, the vehicle can trigger the bottom escape.

[0102] The above describes how to determine whether to trigger the escape and how to execute the escape when the vehicle interacts with the static obstacle in combination with FIG. 3 and FIG. 6. The following describes how to determine whether to trigger the temporary stop and how to temporarily stop when the vehicle interacts with the dynamic obstacle in combination with the accompanying drawings.

[0103] Exemplarily, in the AVP scenario, when the vehicle meets other vehicles at a narrow lane, an intersection, an s-shaped / u-shaped curve, etc., the vehicle and the other vehicles cannot be staggered, and the vehicle can perform a forward temporary parking action or a backward temporary parking action, so as to return to continue parking after the vehicle and the other vehicles are staggered.

[0104] Exemplarily, in the AVP scenario, the vehicle temporarily parks due to the meeting, other vehicles can be staggered with the vehicle in the process of temporary parking of the vehicle, or other vehicles do not exist in the preset visual field range of the vehicle, and the vehicle can timely interrupt the temporary parking and return to continue parking.

[0105] Exemplarily, FIG. 7 shows a schematic diagram of another parking scenario provided by an embodiment of the present application.

[0106] As shown in (a) of FIG. 7, the vehicle 100 passes through a crossroad in the process of parking into the target parking space according to the parking trajectory, and meets the vehicle 200 driving in the opposite direction. Since the size of the crossroad cannot meet the side-by-side passing of the vehicle 100 and the vehicle 200, the interactive lock may occur, causing traffic congestion.

[0107] As shown in (b) of FIG. 7, the vehicle 100 passes through a narrow intersection in the process of parking into the target parking space according to the parking trajectory, and meets the vehicle 200 driving in the opposite direction. Since the size D of the narrow intersection cannot meet the side-by-side passing of the vehicle 100 and the vehicle 200, the interactive lock may occur, causing traffic congestion.

[0108] In the parking scenarios shown in (a) and (b) of FIG. 7, when the vehicle 100 and the vehicle 200 are interactive locked, the vehicle 100 can determine a temporary parking pose and plan a temporary parking path from the current position to the temporary parking pose. The vehicle 100 can drive to the temporary parking pose according to the temporary parking path. When the interactive lock state is released, the vehicle 100 can continue to park into the target parking space. In the embodiment of the present application, for the case that the vehicle (for example, the vehicle 100) and other vehicles (for example, the vehicle 200) are interactive locked at the crossroad, the narrow intersection, and the narrow lane turning, the vehicle can actively temporarily park to give way, so as to relieve the current traffic congestion.

[0109] FIG. 8 shows a schematic flowchart of a parking method 600 provided by an embodiment of the present application. The method 600 includes:

[0110] S601, controlling the vehicle to drive according to a planned first parking trajectory.

[0111] Exemplarily, when the user starts the AVP function, the vehicle can plan a first parking trajectory from the current position to the target parking space. The vehicle can drive from the current position to the target parking space according to the first parking trajectory.

[0112] S602, determine that the vehicle is stuck.

[0113] For example, the vehicle detects that it is stuck by an obstacle while driving according to the first parking trajectory.

[0114] S603, determine that the obstacle is a dynamic obstacle driving towards the vehicle.

[0115] Optionally, the method 600 further comprises: determining that the decision result of the vehicle for the dynamic obstacle is yielding.

[0116] Optionally, determining that the obstacle is a dynamic obstacle driving towards the vehicle comprises: determining that the obstacle is a dynamic obstacle driving towards the vehicle based on the speed direction of the vehicle and the speed direction of the dynamic obstacle.

[0117] Optionally, determining that the obstacle is a dynamic obstacle driving towards the vehicle comprises: determining that the obstacle is a dynamic obstacle driving towards the vehicle based on the projection of the vehicle and the dynamic obstacle to a router line.

[0118] Optionally, determining that the decision result of the vehicle for the dynamic obstacle is yielding comprises: determining that the decision result of the vehicle for the dynamic obstacle is yielding based on the state of the vehicle and the state of the dynamic obstacle.

[0119] For example, the state of the vehicle comprises one or more of the position, speed, acceleration, and heading angle of the vehicle.

[0120] For example, the state of the dynamic obstacle comprises one or more of the position, speed, acceleration, and heading angle of the dynamic obstacle.

[0121] For example, the dynamic obstacle comprises a dynamic vehicle, a pedestrian, a non-motor vehicle, etc.

[0122] S604, determine whether the joint optimization is solved successfully based on the state of the vehicle and the state of the dynamic obstacle.

[0123] For example, if the vehicle determines that the joint optimization is solved successfully based on the state of the vehicle and the state of the dynamic obstacle, return to continue S601; otherwise, execute S605.

[0124] The above determination that the joint optimization is solved successfully by the vehicle based on the state of the vehicle and the state of the dynamic obstacle comprises: the vehicle can plan a second parking trajectory based on the state of the vehicle and the state of the dynamic obstacle, so as to return to continue automatic parking after yielding to the dynamic obstacle.

[0125] S605, trigger temporary stop and execute a temporary stop action.

[0126] Optionally, the performing the temporary stop action comprises: obtaining a temporary stop pose; planning a temporary stop trajectory from a current position of the vehicle to the temporary stop pose; and controlling the vehicle to travel along the temporary stop trajectory.

[0127] For example, if the vehicle does not detect that the dynamic obstacle moves within a preset time period after being stuck, the vehicle can trigger the temporary stop and perform the temporary stop action.

[0128] For example, if the vehicle cannot plan a second parking trajectory that can pass the dynamic obstacle based on the state of the vehicle and the state of the dynamic obstacle after being stuck, the vehicle can trigger the temporary stop and perform the temporary stop action.

[0129] The complex dynamic interaction in the valet parking scenario is one of the difficulties of the valet parking technology, which involves dynamic obstacle passing and planning action for avoiding the dynamic obstacle, ensuring the normal operation of the vehicle parking function, and ensuring the passability of the global planning path. The valet parking scenario is different from the cruise scenario in urban and highway scenarios. When the valet parking encounters a dynamic interaction scenario, the temporary stop needs to be triggered reasonably and timely to fully exert the interaction ability of the vehicle and the dynamic obstacle in the valet parking.

[0130] When the result of the joint optimization solution indicates that there is no feasible solution, the vehicle can record the target that causes it to trigger the temporary stop and trigger the temporary stop. The vehicle can perform a forward or backward roadside temporary parking action, or perform a temporary stop action in an empty parking space around the vehicle, and the selected temporary stop pose can ensure the passability of the dynamic obstacle.

[0131] Optionally, when the vehicle triggers the temporary stop and triggers the escape in the cruise phase, the vehicle can further determine the priority of the dynamic obstacle and the static obstacle. For example, if the vehicle triggers the escape due to the static obstacle and triggers the temporary stop due to the dynamic obstacle at the same time, the vehicle can first perform the temporary stop action.

[0132] FIG. 9 shows another schematic diagram of a parking scenario provided by an embodiment of the present application.

[0133] For example, as shown in FIG. 9, the vehicle 100 is merging with the vehicle 200 at a narrow lane when the vehicle 100 is in the cruise phase. Since the width D of the narrow lane cannot meet the side-by-side passing of the vehicle 100 and the vehicle 200, the vehicle 100 can perform the temporary stop action. For example, the vehicle 100 can obtain a temporary stop pose and plan a temporary stop trajectory from the current pose to the temporary stop pose.

[0134] The above describes the process of the vehicle performing the temporary stop action after the vehicle and the dynamic obstacle are locked due to interaction by the method 600. In an embodiment of the present application, the vehicle can also determine in advance whether the vehicle will be locked due to interaction with other vehicles, so as to perform the temporary stop action before the interaction lock occurs.

[0135] Exemplarily, FIG. 10 shows a schematic flowchart of a parking method 800 provided by an embodiment of the present application. The method 800 comprises the following steps.

[0136] S801, in the process that the vehicle automatically parks into the target parking space through the parking trajectory, a predicted trajectory of another vehicle is acquired.

[0137] Exemplarily, the parking trajectory can include a trajectory of the vehicle in a future period of time, and the predicted trajectory can include a trajectory of the other vehicle in the future period of time.

[0138] Optionally, the acquiring of the predicted trajectory of the other vehicle comprises: determining the predicted trajectory of the other vehicle according to a state of the other vehicle.

[0139] Exemplarily, the state of the other vehicle can include one or more of a position, a speed, an acceleration and a heading angle of the other vehicle.

[0140] Optionally, the determining of the predicted trajectory of the other vehicle according to the state of the other vehicle comprises: determining the predicted trajectory of the other vehicle according to a current state of the other vehicle and a historical moving trajectory of the other vehicle.

[0141] Optionally, before the acquiring of the predicted trajectory of the other vehicle, the method 800 further comprises: determining that the vehicle and the other vehicle are driving towards each other.

[0142] The above process of determining that the vehicle and the other vehicle are driving towards each other can refer to the description in the above embodiments.

[0143] Optionally, before the acquiring of the predicted trajectory of the other vehicle, the method 800 further comprises: determining that an included angle between a heading direction of the vehicle and a heading direction of the other vehicle is within a preset included angle range.

[0144] Exemplarily, the preset included angle range is (-45°, 45°).

[0145] S802, when it is determined that the vehicle and the other vehicle will soon have interactive lock according to the parking trajectory and the predicted trajectory, a temporary parking pose is acquired.

[0146] Optionally, the determining that the vehicle and the other vehicle will soon have interactive lock according to the parking trajectory and the predicted trajectory comprises: at a first time, determining that the vehicle and the other vehicle will have interactive lock at a second time according to the parking trajectory and the predicted trajectory, the second time being after the first time.

[0147] Optionally, the method further comprises: determining that there is a suitable temporary parking pose around a position where the vehicle is located at the first time.

[0148] Exemplarily, FIG. 11 shows a schematic diagram of a parking scenario provided by an embodiment of the present application.

[0149] As shown in FIG. 11, at T1, vehicle 100 is at path point 1 on parking trajectory 1 and vehicle 200 is at path point 2. Vehicle 100 can predict a predicted trajectory 1 of vehicle 200 in a future period of time according to the state of vehicle 200, the predicted trajectory 1 including a plurality of path points. Vehicle 100 can determine whether vehicle 100 and vehicle 200 will interact to be locked in the future period of time based on the plurality of path points on parking trajectory 1 and the plurality of path points on predicted trajectory 1. If vehicle 100 determines that vehicle 100 and vehicle 200 will interact to be locked at T2 when vehicle 100 is at path point 3 on parking trajectory 1 (at this time, vehicle 200 can be at path point 4 on predicted trajectory 1), vehicle 100 can obtain a suitable temporary parking pose 1 around the position of vehicle 100 at T1. Vehicle 100 can plan a temporary parking trajectory 1 from path point 1 to temporary parking pose 1.

[0150] Exemplarily, the suitable temporary parking pose can be understood as a temporary parking pose existing around the position of vehicle at a first time, so that vehicle will not interact with other vehicles after driving to the first temporary parking pose.

[0151] Exemplarily, as shown in FIG. 11, when there is a suitable temporary parking pose 1 around path point 1 of vehicle 100 at T1, vehicle 100 can switch to drive to temporary parking pose 1 along temporary parking trajectory 1 instead of continuing to drive along parking trajectory 1.

[0152] Exemplarily, FIG. 12 to FIG. 14 show schematic diagrams of parking scenarios provided by an embodiment of the present application.

[0153] As shown in FIG. 12, at T3, vehicle 100 is at path point 5 on parking trajectory 2 and vehicle 200 is at path point 6. Vehicle 100 can predict a predicted trajectory 2 of vehicle 200 in a future period of time according to the state of vehicle 200, the predicted trajectory 2 including a plurality of path points. Vehicle 100 can determine whether vehicle 100 and vehicle 200 will interact to be locked in the future period of time based on the plurality of path points on parking trajectory 2 and the plurality of path points on predicted trajectory 2. If vehicle 100 determines that vehicle 100 and vehicle 200 will interact to be locked at T4 when vehicle 100 is at path point 7 on parking trajectory 2 (at this time, vehicle 200 can be at path point 8 on predicted trajectory 2), vehicle 100 can obtain a suitable temporary parking pose around vehicle 100 at T3. Since there is no suitable temporary parking pose around vehicle 100 at this time (there is a stationary vehicle on the left side of vehicle 100 and a cone on the right side of vehicle 100), vehicle 100 can continue to drive along parking trajectory 2.

[0154] As shown in FIG. 13, when the vehicle 100 obtains the information of the temporary stop pose 2 at the T5 moment (for example, the T5 moment can be located between the T3 moment and the T4 moment), the vehicle 100 can stop driving along the parking trajectory 2 and can plan the temporary stop trajectory 2, so as to drive along the temporary stop trajectory 2 to the temporary stop pose 2. In this way, before the vehicle 100 and the vehicle 200 interactively lock, the vehicle 100 can immediately control the vehicle 100 to drive to the temporary stop pose 2 after obtaining the information of the temporary stop pose 2. Thus, the vehicle 100 and the vehicle 200 are prevented from interactingly locking.

[0155] Based on the above scenario, if the vehicle 100 and the vehicle 200 interactively lock, the vehicle 100 needs to first perform the stop and then perform the temporary stop, and after reaching the temporary stop pose, the vehicle 100 needs to stop again to wait for the vehicle 200 to pass. By judging in advance that the vehicle 100 and the vehicle 200 are about to interactively lock, the vehicle 100 can directly switch from driving along the parking trajectory to driving along the temporary stop trajectory, and after the vehicle 200 and the vehicle 100 are staggered, the vehicle 100 can return to continue to perform automatic parking. In this way, the vehicle 100 and the vehicle 200 are prevented from stopping and waiting due to interactive locking, which helps to improve the automatic parking efficiency of the vehicle 100, saves the time required for the vehicle 100 to park, and helps to improve the parking experience of the user.

[0156] The above is described by taking that the vehicle 100 does not obtain the temporary stop pose located in front of the vehicle at the T3 moment as an example, but the present application is not limited thereto. For example, when the vehicle 100 predicts that the vehicle 100 is about to interactively lock with the vehicle 200 at the T3 moment, the vehicle 100 can first stop and then back up to the right rear (or the vehicle can obtain the temporary stop pose located in the right rear of the vehicle 100). After the vehicle 200 and the vehicle 100 are staggered, the vehicle 100 can return to continue to perform automatic parking.

[0157] Optionally, before obtaining the predicted trajectory of the other vehicle, the method 800 further includes: determining that the speed of the vehicle is less than or equal to a preset speed.

[0158] For example, before obtaining the temporary stop pose, the vehicle 100 can first determine that the speed of the vehicle 100 is less than or equal to a preset speed. When there is no obstacle around the vehicle 100 that affects the passing of the vehicle 100, the vehicle 100 can plan a larger speed to drive; and when there is an obstacle around the vehicle 100 that may affect the passing of the vehicle 100, the vehicle 100 can plan a smaller speed to drive. In this way, when the speed of the vehicle 100 is small, whether the vehicle 100 and the vehicle 200 will interactively lock in the future can be determined, which can reduce the calculation overhead of the vehicle in the parking process.

[0159] S803, controlling the vehicle to drive from the current position to the temporary stop pose.

[0160] As shown in FIG. 11, at T1, the vehicle 100 can drive from the path point 1 to the temporary stop pose 1 according to the temporary stop trajectory 1. In this way, through the early judgment of the vehicle 100 on the interactive lock state, the vehicle 100 can plan the temporary stop trajectory from the current position to the temporary stop pose in advance. The process that the vehicle 100 controls the vehicle to stop and wait when the interactive lock occurs is avoided.

[0161] As shown in FIG. 13, at T5, the vehicle can control the vehicle to drive from the current position to the temporary stop pose 2 after obtaining the temporary stop pose 2. The process that the vehicle 100 controls the vehicle to stop and wait when the interactive lock occurs is avoided.

[0162] Optionally, the method 800 further includes: when it is detected that the other vehicle does not drive according to the predicted route and the other vehicle drives according to the updated predicted route in the process that the vehicle drives to the temporary stop pose, and the interactive lock does not occur between the vehicle and the other vehicle, controlling the vehicle to stop driving to the temporary stop pose and continue to park in the target parking space.

[0163] For example, as shown in FIG. 14, the vehicle 100 detects that the predicted trajectory of the vehicle 200 changes, for example, from the predicted trajectory 2 to the predicted trajectory 3, in the process that the vehicle 100 drives along the temporary stop trajectory 2 to the temporary stop pose 2. When the vehicle 100 determines that the interactive lock does not occur between the vehicle 100 driving along the parking trajectory 2 and the vehicle 200 driving along the predicted trajectory 3, the vehicle 100 can stop driving to the temporary stop pose 2 and return to continue driving along the parking trajectory 2.

[0164] Based on the above technical solutions, if the vehicle finds that the other vehicle does not drive according to the initial predicted trajectory and the interactive lock does not occur between the vehicle and the other vehicle according to the updated predicted trajectory in the process that the vehicle drives to the temporary stop pose, the vehicle can stop driving to the temporary stop pose and return to continue automatic parking. In this way, through real-time monitoring of the predicted trajectory of the other vehicle, the parking efficiency of the vehicle is improved, the time required for automatic parking is reduced, and the parking experience of the user is improved.

[0165] The process of obtaining the temporary stop pose in the method 600 and the method 800 in the embodiments of the present application is not specifically limited. The temporary stop pose can be a temporary stop pose for parking close to the roadside, or can also be a temporary stop pose in an empty parking space (or a temporary parking space) around the vehicle.

[0166] For example, the vehicle can obtain at least one of road structure information, a current pose of the vehicle, and information of an empty parking space around the vehicle; and the vehicle can determine the temporary stop pose according to at least one of the road structure information, the current pose, and the information of the empty parking space.

[0167] For example, the road structure information can include at least one of information of a road structure center line and a width of the road.

[0168] FIG. 15 shows a schematic flowchart of the parking method 1100 provided by the embodiments of the present application. The method 1100 includes:

[0169] S1101, controlling the vehicle to perform a temporary stop action.

[0170] For example, the above process of how to trigger the vehicle to perform the temporary stop action can refer to the method 600 or the method 800.

[0171] S1102, determining whether a dynamic obstacle is detected within a preset field of view.

[0172] For example, when the dynamic obstacle is detected within the preset field of view, S1103 can be performed; otherwise, S1105 is performed.

[0173] S1103, determining whether the vehicle and the dynamic obstacle are staggered.

[0174] For example, the vehicle and the dynamic obstacle being staggered can include the vehicle and the dynamic obstacle being staggered in the same direction, the vehicle and the dynamic obstacle being staggered in opposite directions, and the vehicle and the dynamic obstacle being stationary.

[0175] For example, if the vehicle and the dynamic obstacle are staggered, S1105 is performed; otherwise, S1104 is performed.

[0176] S1104, determining whether a stationary duration of the dynamic obstacle is greater than a third preset duration.

[0177] For example, the third preset duration is 10s.

[0178] For example, if the stationary duration of the dynamic obstacle is greater than the third preset duration, the vehicle can consider that the dynamic obstacle is yielding to the vehicle, and at this time, the vehicle can perform S1105; otherwise, the process returns to continue to perform S103.

[0179] The determinations of S1102, S1103, and S1104 can be performed simultaneously, or part of the steps can be performed simultaneously, for example, S1102 and S1104 can be performed simultaneously.

[0180] S1105, stopping performing the temporary stop action.

[0181] In order to efficiently guarantee the efficiency of the cruise, when the vehicle detects that there is no interactive target within the field of view during the temporary stop process, or the interactive target is staggered, or the interactive target is stationary for a long time, the vehicle can immediately stop performing the temporary stop action, thereby guaranteeing the intelligence of the process and the cruise efficiency.

[0182] For example, FIG. 16 shows a schematic diagram for determining whether the vehicle and the dynamic obstacle are staggered, provided by an embodiment of the present application.

[0183] As shown in (a) of FIG. 16, when the vehicle 100 parks into the target parking space through the AVP function, the vehicle 200 is identified to be moving towards the vehicle 100 in the cruising stage, and the width D of the intersection cannot meet the vehicle 100 and the vehicle 200 passing through the intersection at the same time, at this time, the vehicle 100 determines that the vehicle 100 will interact with the vehicle 200 and be locked.

[0184] As shown in (b) of FIG. 16, when the vehicle 100 determines that the vehicle 100 will interact with the vehicle 200 and be locked, the vehicle 100 can plan the temporary parking pose 3 and control the vehicle to drive to the temporary parking pose 3. During the driving to the temporary parking pose 3, the vehicle 100 can determine whether the vehicle 100 and the vehicle 200 are longitudinally staggered according to the projection of the vehicle 100 and the vehicle 200 to the router line. For example, when the vehicle 200 is detected to advance into the dashed frame, the vehicle 100 can determine that the vehicle 100 and the vehicle 200 are staggered, at this time, the vehicle 100 can determine that the exit temporary parking condition is met, and then the vehicle 100 exits the temporary parking.

[0185] The above method can be executed by the vehicle 100 described above, or the method can be executed by the computing platform 120 described above, or the method can be executed by a system composed of the computing platform 120 and the perception system 110, or the method can be executed by a system-on-a-chip (SoC) in the computing platform 120 described above, or the method can be executed by a processor, a chip or a circuit in the computing platform 120, or the method can be executed by the planning system 220 described above.

[0186] In the above embodiments, the vehicle through the AVP function is taken as an example to execute automatic parking, and the embodiments of the present application are not limited thereto. For example, the above method can also be executed during the vehicle automatically parks through the APA function or the RPA function.

[0187] The above various methods are not independent of each other, and the various methods can be combined with each other. For example, the method 800 can be combined with the method 1100. During the driving of the vehicle 100 to the temporary parking pose, if it is detected that there is no other vehicle in the preset visual field range of the vehicle 100, the vehicle 100 can stop driving to the temporary parking pose and return to continue automatic parking.

[0188] FIG. 17 shows a schematic block diagram of a parking device 1300 according to an embodiment of the present application, which comprises: an acquisition unit 1310 configured to acquire a predicted trajectory of another vehicle during automatic parking of a vehicle into a target parking space through a parking trajectory; a determination unit 1320 configured to acquire a temporary parking position when it is determined that the vehicle and the another vehicle will interact and lock each other according to the parking trajectory and the predicted trajectory; and a control unit 1330 configured to control the vehicle to drive from a current position to the temporary parking position.

[0189] Optionally, the determination unit 1320 is further configured to determine that the vehicle and the another vehicle drive towards each other and an included angle between a vehicle head direction of the vehicle and a vehicle head direction of the another vehicle is within a preset included angle range before the acquisition unit acquires the predicted trajectory of the another vehicle.

[0190] Optionally, the determination unit 1320 is specifically configured to determine that the another vehicle and the vehicle drive towards each other according to speed directions of the another vehicle and the vehicle, and / or determine that the another vehicle and the vehicle drive towards each other according to projections of the another vehicle and the vehicle on a navigation line.

[0191] Optionally, the determination unit 1320 is further configured to determine that a speed of the vehicle is less than or equal to a preset speed before the acquisition unit acquires the predicted trajectory of the another vehicle.

[0192] Optionally, the determination unit 1320 is further configured to determine that the another vehicle is located outside a preset visual field range of the vehicle, and the control unit 1330 is further configured to control the vehicle to stop driving to the temporary parking position and continue to park into the target parking space.

[0193] Optionally, the determination unit 1320 is further configured to determine that the vehicle and the another vehicle are staggered, and the control unit 1330 is further configured to control the vehicle to stop driving to the temporary parking position and continue to park into the target parking space.

[0194] Optionally, the determination unit 1320 is specifically configured to determine that the another vehicle and the vehicle are staggered according to projections of the another vehicle and the vehicle on a navigation line.

[0195] Optionally, the determination unit 1320 is further configured to determine that the another vehicle is in a static state for a time length greater than a preset time length, and the control unit 1330 is further configured to control the vehicle to stop driving to the temporary parking position and continue to park into the target parking space.

[0196] Optionally, the acquisition unit 1310 is further configured to acquire a first instruction of a user before acquiring the predicted trajectory of the another vehicle, the first instruction being used to instruct to start an automatic valet parking (AVP) function.

[0197] For example, the acquisition unit 1310 can be the computing platform in FIG. 1 or a processing circuit, a processor or a controller in the computing platform. Taking the processor 121 in the computing platform as an example, the processor 121 can determine the predicted trajectory of the other vehicle in a future period of time according to the state of the other vehicle.

[0198] For another example, the determination unit 1320 can be the computing platform in FIG. 1 or a processing circuit, a processor or a controller in the computing platform. Taking the processor 122 in the computing platform as an example, the processor 122 can determine whether the vehicle and the other vehicle will interact with each other in a future period of time according to the predicted trajectory determined by the processor 121 and the parking trajectory of the vehicle. If the vehicle and the other vehicle will interact with each other in a future period of time, the processor 122 can acquire the temporary parking pose around the vehicle.

[0199] For another example, the control unit 1330 can be the computing platform in FIG. 1 or a processing circuit, a processor or a controller in the computing platform. Taking the processor 123 in the computing platform as an example, the processor 123 can control the vehicle to drive from the current position to the temporary parking pose.

[0200] The functions implemented by the acquisition unit 1310, the functions implemented by the determination unit 1320 and the functions implemented by the control unit 1330 can be implemented by different processors, or can also be implemented by the same processor, or part of the functions can be implemented by the same processor. The embodiments of the present application do not limit this.

[0201] It should be understood that the division of units in the above apparatus is only a logical functional division, and all or part of the units can be integrated into a physical entity or physically separated when actually implemented. In addition, the units in the apparatus can be implemented in the form of processor calling software; for example, the apparatus includes a processor connected with a memory, and the memory stores instructions, and the processor calls the instructions stored in the memory to implement any of the above methods or to realize the functions of the units of the apparatus, wherein the processor is, for example, a general processor such as a CPU or a microprocessor, and the memory is an internal memory of the apparatus or an external memory of the apparatus. Alternatively, the units in the apparatus can be implemented in the form of hardware circuit, and the functions of part or all of the units can be realized by the design of the hardware circuit, which can be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and the functions of part or all of the units are realized by the design of the logical relationship of elements in the circuit; for example, in another implementation, the hardware circuit is a PLD, and taking FPGA as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, so as to realize the functions of part or all of the units. All units of the above apparatus can be implemented in the form of processor calling software, or all units can be implemented in the form of hardware circuit, or part of the units are implemented in the form of processor calling software, and the remaining part is implemented in the form of hardware circuit.

[0202] In the embodiments of the present application, the processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as CPU, microprocessor, GPU, or DSP, etc. In another implementation, the processor can realize certain functions through the logical relationship of the hardware circuit, and the logical relationship of the hardware circuit is fixed or can be reconfigured, such as ASIC or PLD implemented hardware circuit, such as FPGA. In the reconfigurable hardware circuit, the processor loads the configuration document to realize the hardware circuit configuration process, which can be understood as the process of the processor loading instructions to realize the functions of part or all of the units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as a kind of ASIC, such as NPU, TPU, DPU, etc.

[0203] It can be seen that each unit in the above apparatus can be one or more processors (or processing circuits) configured to implement the above methods, such as CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0204] In addition, the various units in the above apparatus may be fully or partially integrated together, or may be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the various units of the apparatus. The at least one processor may be of different types, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0205] An embodiment of the present application further provides a parking device, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to enable the device to perform the method or steps performed in the above embodiment.

[0206] Optionally, if the device is located in a vehicle, the processing unit may be the processors 121 - 12n shown in FIG. 1 .

[0207] An embodiment of the present application further provides a parking system, which may include a computing platform and a perception system, and the computing platform may include the above-mentioned parking device 1300.

[0208] An embodiment of the present application further provides a vehicle, which may include the above-mentioned parking device 1300 or parking system.

[0209] An embodiment of the present application further provides a computer program product, which includes: computer program code, which, when executed on a computer, enables the computer to execute the parking method in the above embodiment.

[0210] An embodiment of the present application further provides a computer-readable medium, wherein the computer-readable medium stores a program code. When the computer program code is executed on a computer, the computer executes the parking method in the above embodiment.

[0211] An embodiment of the present application further provides a chip, which includes a circuit, and the circuit is used to execute the parking method in the above embodiment.

[0212] During implementation, each step of the above method can be completed by an integrated logic circuit of the hardware in the processor or by instructions in the form of software. The method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or a power-on erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.

[0213] It should be understood that in the embodiment of the present application, the memory may include a read-only memory and a random access memory, and provide instructions and data to the processor.

[0214] It should also be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0215] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0216] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0217] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0218] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0219] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0220] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0221] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A parking method characterized by, The method comprises: acquiring a predicted trajectory of another vehicle during automatic parking of the vehicle into a target parking space through a parking trajectory; acquiring a temporary parking pose when it is determined that the vehicle and the another vehicle will interact and lock each other according to the parking trajectory and the predicted trajectory; controlling the vehicle to drive from a current position to the temporary parking pose.

2. The method of claim 1, wherein, Before the acquiring of the predicted trajectory of the another vehicle, the method further comprises: determining that the vehicle and the another vehicle are driving towards each other.

3. The method of claim 2, wherein, The determining that the vehicle and the another vehicle are driving towards each other comprises: determining that the vehicle and the another vehicle are driving towards each other according to speed directions of the vehicle and the another vehicle; and / or determining that the vehicle and the another vehicle are driving towards each other according to projections of the vehicle and the another vehicle on a navigation line.

4. The method according to any one of claims 1 to 3, characterized in that, Before the acquiring of the predicted trajectory of the another vehicle, the method further comprises: determining that a speed of the vehicle is less than or equal to a preset speed.

5. The method according to any one of claims 1 to 4, characterized in that, The method further comprises: controlling the vehicle to stop driving to the temporary parking pose and continue to park into the target parking space when it is detected that the another vehicle is located outside a preset field of view range of the vehicle.

6. The method according to any one of claims 1 to 5, characterized in that, The method further comprises: controlling the vehicle to stop driving to the temporary parking pose and continue to park into the target parking space when it is detected that the vehicle and the another vehicle are staggered.

7. The method of claim 6, wherein, The method further comprises: determining that the vehicle and the another vehicle are staggered according to overlapping of projections of the vehicle and the another vehicle on a navigation line.

8. The method according to any one of claims 1 to 7, characterized in that, The method further comprises: controlling the vehicle to stop driving to the temporary parking pose and continue to park into the target parking space when it is detected that the another vehicle is in a static state for a time period greater than a preset time period.

9. The method according to any one of claims 1 to 8, characterized in that, Before the acquiring of the predicted trajectory of the another vehicle, the method comprises: acquiring a first instruction of a user, the first instruction being used to instruct to start an automatic valet parking (AVP) function.

10. A parking device, characterized in that The method comprises: an acquiring unit, configured to acquire a predicted trajectory of another vehicle during automatic parking of the vehicle into a target parking space through a parking trajectory; a determining unit, configured to acquire a temporary parking pose when it is determined that the vehicle and the another vehicle will interact and lock each other according to the parking trajectory and the predicted trajectory; a control unit, configured to control the vehicle to drive from a current position to the temporary parking pose.

11. The apparatus of claim 10, wherein, The determining unit is further configured to: determine that the vehicle and the another vehicle are driving towards each other and that an included angle between a vehicle head direction of the vehicle and a vehicle head direction of the another vehicle is within a preset included angle range before the acquiring unit acquires the predicted trajectory of the another vehicle.

12. The apparatus of claim 11, wherein, The determining unit is specifically configured to: determine that the vehicle and the another vehicle are driving towards each other according to speed directions of the vehicle and the another vehicle; and / or determine that the vehicle and the another vehicle are driving towards each other according to projections of the vehicle and the another vehicle on a navigation line.

13. The apparatus of any one of claims 10-12, wherein, The determining unit is further configured to: determine that a speed of the vehicle is less than or equal to a preset speed before the acquiring unit acquires the predicted trajectory of the another vehicle.

14. The apparatus according to any one of claims 10 to 13, The determining unit is further configured to determine that the other vehicle is located outside a preset visual field range of the vehicle. The control unit is further configured to control the vehicle to stop driving to the temporary parking pose and continue parking into the target parking space.

15. The apparatus of any one of claims 10-14, wherein, The determining unit is further configured to determine that the vehicle and the other vehicle are staggered. The control unit is further configured to control the vehicle to stop driving to the temporary parking pose and continue parking into the target parking space.

16. The apparatus of claim 15, wherein, The determining unit is specifically configured to: determine that the other vehicle and the vehicle are staggered when projections of the other vehicle and the vehicle on a navigation line overlap.

17. The apparatus of any one of claims 10-16, wherein, The determining unit is further configured to determine that the other vehicle is in a static state for a time period greater than a preset time period. The control unit is further configured to control the vehicle to stop driving to the temporary parking pose and continue parking into the target parking space.

18. The apparatus of any one of claims 10-17, wherein, The obtaining unit is further configured to: obtain a first instruction of a user before obtaining the predicted trajectory of the other vehicle, the first instruction being used to instruct to start an automatic valet parking (AVP) function.

19. A parking device, characterized in that comprising: a memory configured to store a computer program; a processor configured to execute the computer program stored in the memory, so that the apparatus executes the method of any one of claims 1-9.

20. A vehicle characterized by an apparatus as claimed in any one of claims 10-19.

21. A computer-readable storage medium, characterized in that, instructions stored thereon, which, when executed by a processor, cause the processor to implement the method of any one of claims 1-9.

22. A computer program product, characterised in that, The computer program product comprises computer program code which, when executed on a computer, causes the computer to implement the method of any one of claims 1-9.

23. A chip, characterized by The chip comprises a circuit configured to execute the method of any one of claims 1-9.

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