Parking method and apparatus, and intelligent driving device

Abstract

A parking method and apparatus, and an intelligent driving device. The method comprises: acquiring a first instruction, wherein the first instruction indicates a first parking area; controlling, on the basis of the first instruction, a gear shift of a vehicle to be switched to a parking gear; and when an occupant of the vehicle has left the vehicle and doors of the vehicle are closed, controlling the vehicle to park into the first parking area. When the occupant of the vehicle has left the vehicle and the doors of the vehicle are closed, the vehicle is controlled to park into the first parking area by means of a first parking function. This technical solution can be applied to the field of intelligent vehicles such as electric vehicles and new energy vehicles. There is no need for a user to use a mobile phone to control an automatic parking process, thereby shortening the duration required for starting the automatic parking process, and thus improving the automatic parking efficiency; and there is no need to maintain a Bluetooth connection between the mobile phone of the user and the vehicle, so that the user can get off and leave immediately after selecting a target area, thereby improving the in-vehicle experience of the user.

Description

Parking method, device and intelligent driving equipment

[0001] The present application claims priority to the Chinese patent application No. 202410735634.5, filed on June 6, 2024, and entitled "Parking method, device and intelligent driving equipment", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

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

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

[0004] The current auto parking system is relatively complex in controlling the parking of a vehicle, and is relatively cumbersome to operate, which results in a long time consumption before the vehicle is automatically parked, and thus leads to a poor user experience.

[0005] In view of this, a parking scheme capable of shortening the parking time consumption is urgently needed to be developed. SUMMARY

[0006] The present application provides a parking method, device and intelligent driving equipment, which can shorten the time length required for starting auto parking, thereby shortening the time length required for the overall process of auto parking, and further improving the user experience when using the auto parking function.

[0007] In a first aspect, a parking method is provided, which can be executed by a vehicle, for example, can be executed by a computing platform of the vehicle, or can also be executed by a chip or circuit for the vehicle.

[0008] The method comprises: obtaining a first instruction, the first instruction indicating a first parking area; controlling a gear of the vehicle to switch to a parking gear according to the first instruction; and controlling the vehicle to park into the first parking area when a driver or passenger of the vehicle gets off the vehicle and a door of the vehicle is closed.

[0009] In the technical solution, after the target parking area (i.e., the first parking area) of the vehicle is determined, the vehicle can be automatically switched to the P gear, so as to avoid the risk of the vehicle rolling after the user gets off. After the user gets off and closes the door, the vehicle is automatically parked in the target parking area, and the user does not need to control the automatic parking process through the mobile phone, so as to simplify the interaction process between the user and the vehicle in the automatic parking process, shorten the time required for starting the automatic parking process, improve the automatic parking efficiency, and enable the user to get off and leave directly after selecting the target area, thereby improving the driving experience of the user.

[0010] With reference to the first aspect, in some implementations of the first aspect, the controlling the gear of the vehicle to switch to the parking gear according to the first instruction comprises: when the risk degree of the first parking area meets a preset condition, controlling the gear of the vehicle to switch to the parking gear according to the first instruction, the risk degree indicating a collision risk and / or a falling risk of the vehicle when parking into the first parking area.

[0011] In the technical solution, when the collision risk and / or the falling risk of the first parking area is small, the vehicle is automatically switched to the P gear, and the user does not need to manually control the switching of the P gear, so as to simplify the operation required in the automatic parking process and ensure the safety of the vehicle in the parking process.

[0012] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: when at least one of the following occurs, controlling the first parking function to be started: the risk degree of the first parking area meets a preset condition, it is detected that the driver or passenger of the vehicle clicks a button displayed on the first screen of the vehicle for starting the first parking function, or it is detected that the driver or passenger speaks a voice for starting the first parking function; wherein the risk degree indicates a collision risk and / or a falling risk of the vehicle when parking into the first parking area; and the controlling the gear of the vehicle to switch to the parking gear according to the first instruction comprises: under the first parking function, controlling the gear of the vehicle to switch to the parking gear according to the first instruction.

[0013] In the technical solution, when the collision risk and / or the falling risk of the first parking area is small, or in response to the operation for starting the first parking function, the first parking function is started, the user does not need to control the automatic parking process through the mobile phone, the process required for starting the automatic parking is simplified, and the safety in the parking process is ensured.

[0014] In a second aspect, a parking method is provided, which can be executed by a vehicle, for example, can be executed by a computing platform of the vehicle, or can be executed by a chip or circuit for the vehicle.

[0015] The method comprises: obtaining a first instruction, the first instruction indicating a first parking area; when at least one of the following occurs, controlling to start a first parking function: a risk degree of the first parking area meets a preset condition, detecting that a driver or a passenger of the vehicle clicks a button displayed on a first screen of the vehicle for starting the first parking function, or detecting a voice of the driver or the passenger for starting the first parking function; and when the driver or the passenger gets off the vehicle and a door of the vehicle is closed, controlling the vehicle to park into the first parking area by the first parking function.

[0016] In the technical solution, the first parking function can be started automatically according to the risk degree of the parking area, or can be started in response to a request of a user. When the first parking function is started, the vehicle can be controlled to automatically park into the target parking area after the user gets off the vehicle and closes the door, without the need of the user to control the automatic parking process by a mobile phone, thereby simplifying the interaction between the user and the vehicle in the automatic parking process, shortening the time required for starting the automatic parking process, improving the automatic parking efficiency, and enabling the user to get off the vehicle and leave directly after selecting the target area, thereby improving the driving experience of the user.

[0017] In combination with the second aspect, in some implementations of the second aspect, before the vehicle is controlled to park into the first parking area by the first parking function, the method further comprises: controlling a gear of the vehicle to be switched to a parking gear.

[0018] In the technical solution, when the first parking function is started, the vehicle is automatically switched to the P gear, without the need of the user to manually control the switching of the P gear, which helps to improve the safety in the parking process (to avoid the risk caused by the vehicle rolling) and to simplify the operation required in the automatic parking process.

[0019] In combination with the first aspect or the second aspect, in some implementations of the first aspect or the second aspect, the controlling of the vehicle to park into the first parking area comprises: when the driver or the passenger gets off the vehicle, a distance between the driver or the passenger and the vehicle is greater than or equal to a distance threshold, and the door of the vehicle is closed, controlling the vehicle to park into the first parking area.

[0020] In the technical solution, when the distance between the driver or the passenger and the vehicle is greater than or equal to the distance threshold, the vehicle is controlled to park into the first parking area, which helps to ensure the personal safety of the driver or the passenger and to reduce the influence of the driver or the passenger on the planning of the parking path, thereby improving the parking efficiency.

[0021] In some implementations of the first aspect or the second aspect, the controlling the vehicle to park into the first parking area includes: controlling the vehicle to start to park into the first parking area at a first time, the time interval between the first time and the second time being less than or equal to the first time threshold, and the first time being after the second time.

[0022] In the above technical solution, in the case that the perception system of the vehicle is damaged and cannot detect the occupant outside the vehicle, the vehicle can still be controlled to park, which helps to improve the robustness of the parking system of the vehicle.

[0023] In some implementations of the first aspect or the second aspect, the first instruction is obtained at a third time, and the controlling the vehicle to park into the first parking area includes: controlling the vehicle to park into the first parking area before the occupant gets off the vehicle and closes the door of the vehicle at a fourth time, the fourth time being after the third time, and the time interval between the fourth time and the third time being less than or equal to the second time threshold.

[0024] In the above technical solution, in the case that the first parking function is started and the occupant gets off the vehicle and closes the door within the preset time, the vehicle is controlled to park into the first parking area under the first parking function; otherwise, the first parking function is exited, which can reduce the power consumption required for the first parking function to wait (or standby).

[0025] In some implementations of the first aspect or the second aspect, the method further includes: in the process of the vehicle parking into the first parking area, controlling the vehicle to pause to park into the first parking area when any of the following occurs: detecting that the first door handle of the vehicle is pulled, detecting that the first door of the vehicle is opened, or receiving first information from an electronic device; wherein the electronic device is associated with the vehicle, and the first information is used to control the vehicle to brake.

[0026] In the above technical solution, in the process of parking by the first parking function, the parking can be paused in response to the operation of the user, which helps to further improve the safety of the parking process.

[0027] In some implementations of the first aspect or the second aspect, the vehicle stops at a first position when the vehicle pauses to park into the first parking area, and the method further includes: controlling the vehicle to park into the first parking area from the first position when the door of the vehicle is closed and any of the following occurs: detecting a first voice, a first button of the vehicle being clicked, or receiving second information from an electronic device.

[0028] In the technical solution, when parking by the first parking function and parking is paused, the parking can be continued in response to the operation of the user, which helps to further improve the parking success rate.

[0029] With reference to the first aspect or the second aspect, in some implementations of the first aspect or the second aspect, the method further includes: sending third information to the electronic device, the third information including a parking state of the vehicle and / or an image collected in the parking-in process to the first parking area; and the electronic device is associated with the vehicle.

[0030] In the technical solution, during the parking by the first parking function, the parking-related dynamic can be sent to the electronic device, so that the electronic device can display the relevant dynamic, and thus the user can still observe the relevant information in the parking process of the vehicle when the user is far away from the vehicle.

[0031] With reference to the first aspect or the second aspect, in some implementations of the first aspect or the second aspect, the method further includes: obtaining a second instruction at a fifth time, the second instruction indicating a second parking area; and controlling the first parking function to be turned off when the first parking function is turned on, and the driver or passenger does not get off the vehicle and / or the door of the vehicle is not closed within a first time period after the fifth time.

[0032] In the technical solution, when the user does not get off the vehicle or the door of the vehicle is not closed within a certain time period after the first parking function is enabled, the first parking function is exited, which helps to reduce the power consumption required for the first parking function to wait (or standby).

[0033] The third aspect provides a parking device, which includes an obtaining unit and a processing unit, wherein the obtaining unit is configured to obtain a first instruction, the first instruction indicating a first parking area; and the processing unit is configured to control a gear of the vehicle to be switched to a parking gear according to the first instruction; and the processing unit is further configured to control the vehicle to park into the first parking area when a driver or passenger of the vehicle gets off the vehicle and a door of the vehicle is closed.

[0034] With reference to the third aspect, in some implementations of the third aspect, the processing unit is configured to control the gear of the vehicle to be switched to the parking gear according to the first instruction when a risk degree of the first parking area meets a preset condition, the risk degree indicating a collision risk and / or a falling risk when the vehicle parks into the first parking area.

[0035] In some implementations of the third aspect, in combination with the third aspect, the processing unit is configured to: control the first parking function to be enabled when at least one of the following occurs: the risk level of the first parking area meets a preset condition, a button for enabling the first parking function displayed on a first screen of the vehicle is detected to be clicked by an occupant of the vehicle, or a voice for enabling the first parking function is detected to be input by the occupant; and control a gear of the vehicle to be switched to a parking gear according to the first instruction under the first parking function.

[0036] In the fourth aspect, a parking device is provided, which includes an acquisition unit and a processing unit. The acquisition unit is configured to acquire a first instruction, the first instruction indicating a first parking area. The processing unit is configured to: control a first parking function to be enabled when at least one of the following occurs: a risk level of the first parking area meets a preset condition, a button for enabling the first parking function displayed on a first screen of the vehicle is detected to be clicked by an occupant of the vehicle, or a voice for enabling the first parking function is detected to be input by the occupant; and control the vehicle to park into the first parking area through the first parking function when the occupant of the vehicle gets off the vehicle and a door of the vehicle is closed.

[0037] In some implementations of the fourth aspect, in combination with the fourth aspect, the processing unit is further configured to control a gear of the vehicle to be switched to a parking gear before the processing unit controls the vehicle to park into the first parking area through the first parking function.

[0038] In some implementations of the third aspect or the fourth aspect, in combination with the third aspect or the fourth aspect, the processing unit is configured to: control the vehicle to park into the first parking area when the occupant gets off the vehicle, a distance between the occupant and the vehicle is greater than or equal to a distance threshold, and the door of the vehicle is closed.

[0039] In some implementations of the third aspect or the fourth aspect, in combination with the third aspect or the fourth aspect, the processing unit is configured to: control the vehicle to start to park into the first parking area at a first time, a time interval between the first time and a second time is less than or equal to a first time threshold, and the first time is after the second time, the second time being a time when the occupant gets off the vehicle and closes the door.

[0040] In some implementations of the third aspect or the fourth aspect, in combination with the third aspect or the fourth aspect, the first instruction is acquired at a third time, and the processing unit is configured to: control the vehicle to park into the first parking area when the occupant gets off the vehicle and closes the door of the vehicle before a fourth time, the fourth time being after the third time, and a time interval between the fourth time and the third time being less than or equal to a second time threshold.

[0041] In some implementations of the third aspect or the fourth aspect, the apparatus further includes a detection unit, and the processing unit is further configured to: control the vehicle to pause parking into the first parking area when any of the following occurs during parking of the vehicle into the first parking area: the detection unit detects that the first door handle of the vehicle is pulled, the detection unit detects that the first door of the vehicle is opened, or the acquisition unit receives first information from an electronic device; and wherein the electronic device is associated with the vehicle, and the first information is used to control the vehicle to brake.

[0042] In some implementations of the third aspect or the fourth aspect, the apparatus further includes a detection unit; the vehicle pauses parking into the first parking area and stops at a first position, and the processing unit is further configured to: control the vehicle to park into the first parking area from the first position when the door of the vehicle is closed and any of the following occurs: the detection unit detects a first voice, the detection unit detects that a first button of the vehicle is clicked, or the acquisition unit receives second information from an electronic device.

[0043] In some implementations of the third aspect or the fourth aspect, the processing unit is further configured to: control third information to be sent to an electronic device, the third information including a parking state of the vehicle and / or an image collected during parking into the first parking area; and wherein the electronic device is associated with the vehicle.

[0044] In some implementations of the third aspect or the fourth aspect, the acquisition unit is further configured to: acquire a second instruction at a fifth time, the second instruction indicating a second parking area; and the processing unit is further configured to: control the first parking function to be closed when the first parking function of the vehicle is opened and the driver and / or the door of the vehicle is not closed within a second time period after the fifth time.

[0045] In a fifth aspect, a parking apparatus is provided, and the apparatus includes a processor configured to execute a computer program stored in a memory to cause the apparatus to perform the method in any possible implementation of the first aspect or the second aspect.

[0046] In some implementations of the fifth aspect, the parking apparatus further includes a memory.

[0047] In a sixth aspect, an intelligent driving device is provided, and the intelligent driving device includes the apparatus in any possible implementation of the third aspect to the fifth aspect.

[0048] In some implementations of the sixth aspect, the intelligent driving device is a vehicle.

[0049] In a seventh aspect, a computer program product is provided, which includes computer program codes, when the computer program codes are executed on a computer or a processor, the computer or the processor is caused to execute the method in any possible implementation of the first aspect or the second aspect.

[0050] It should be noted that the computer program codes can be stored in whole or in part on a storage medium, which can be packaged together with the processor or packaged separately from the processor.

[0051] In an eighth aspect, a computer readable medium is provided, which stores instructions, when the instructions are executed by a processor, the processor is caused to implement the method in any possible implementation of the first aspect or the second aspect.

[0052] In a ninth aspect, a chip is provided, which includes a circuit for executing the method in any possible implementation of the first aspect or the second aspect.

[0053] The beneficial effects not described in the third aspect to the ninth aspect can be referred to the description of the first aspect and the second aspect, which will not be described herein. BRIEF DESCRIPTION OF DRAWINGS

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

[0055] FIG. 2 is a schematic diagram of a parking 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] FIG. 4 is a schematic diagram of a GUI according to an embodiment of the present application;

[0058] FIG. 5 is another schematic diagram of a GUI according to an embodiment of the present application;

[0059] FIG. 6 is still another schematic diagram of a GUI according to an embodiment of the present application;

[0060] FIG. 7 is still another schematic diagram of a GUI according to an embodiment of the present application;

[0061] FIG. 8 is still another schematic flowchart of a parking method according to an embodiment of the present application;

[0062] FIG. 9 is still another schematic flowchart of a parking method according to an embodiment of the present application;

[0063] FIG. 10 is a schematic block diagram of a parking device according to an embodiment of the present application;

[0064] FIG. 11 is another schematic block diagram of the parking device according to an embodiment of the present application. DETAILED DESCRIPTION

[0065] As described above, in the current technical background, the automatic parking system has a complex process and is tedious to operate when controlling the vehicle to park. Specifically, the user selects a parking space in the vehicle display screen and confirms the authorization of the automatic parking function of the vehicle, so that the vehicle can automatically park into the parking space. Further, the user switches the gear of the vehicle to the parking (P) gear and then gets off the vehicle and closes the door. Then the user performs a self-check of the automatic parking through the mobile phone associated with the vehicle. After the mobile phone detects that the user clicks the button to confirm the automatic parking, the automatic parking process is activated and the vehicle starts to park into the selected parking space. It can be seen that the above automatic parking process is too tedious, which makes the time required for the vehicle to enter the automatic parking process longer, and thus the entire automatic parking process takes a long time.

[0066] In view of this, the embodiments of the present application provide a parking method, device and intelligent driving equipment, which do not require the user to control the automatic parking process through the mobile phone, simplify the interaction process between the user and the vehicle in the automatic parking process, help to shorten the time required to start the automatic parking process, thereby improving the efficiency of the automatic parking, so that the user can directly get off the vehicle and leave after selecting the target area, and help to improve the driving experience of the user.

[0067] The technical solutions in the embodiments of the present application will be described below with reference to the drawings.

[0068] FIG. 1 is a functional block diagram of a vehicle according to an embodiment of the present application. As shown in FIG. 1, the vehicle 100 can include a perception system 120, a display device 130, a communication system 140 and a computing platform 150, wherein the perception system 120 can include several sensors for sensing information of the environment around the vehicle 100. For example, the perception system 120 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 120 can also include one or more of an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar and a camera.

[0069] The display device 130 in the cabin of the vehicle 100 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 part of the in-vehicle infotainment system. Multiple display screens can be provided in the cabin, such as a digital instrument display screen, a center screen, and the like. In some possible implementations, one or more of the vehicle display screens described above can be a human machine interface (HMI), for example, the center screen can be an HMI. The head up display, also known as a head up display system. It is mainly used to display driving information such as speed, navigation, etc. on the display device in front of the driver (such as the windshield). In order to reduce the driver's sight transfer time and avoid the pupil change caused by the driver's sight transfer, and to improve the driving safety and comfort. The HUD, for example, includes a combiner-HUD (C-HUD) system, a windshield-HUD (W-HUD) system, and an augmented reality HUD (AR-HUD).

[0070] The communication system 140 of the vehicle 100 can be one or more devices integrated with at least one communication processing module. The communication system 140 can transmit and receive electromagnetic waves through an antenna, so that the vehicle 100 can communicate with other electronic devices (such as electronic devices associated with the vehicle 100), cloud servers, etc. through wireless communication technology. The wireless communication technology can include mobile communication technology, such as global system of mobile communication (GSM), code division multiple access (CDMA), wideband code division multiple access (WCDMA), general packet radio service (GPRS), or long term evolution (LTE), etc. Alternatively, the wireless communication technology can also include wireless short-range communication technology, such as Bluetooth (BT) communication technology, radio frequency identification (RFID) communication technology, etc.

[0071] Some or all of the functionality of the vehicle 100 can be controlled by the computing platform 150. The computing platform 150 can include processors 151-15n, which are circuits that have the capability to process signals. In one implementation, the processors can be circuits that have the capability to fetch and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), a digital signal processor (DSP), or the like. In another implementation, the processors can be circuits that implement certain functionality through fixed or reconfigurable logic, such as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD) such as a field programmable gate array (FPGA). In reconfigurable hardware, the processor loads configuration files to configure the hardware, which can be understood as the processor loading instructions to implement the functionality of some or all of the units described above. In addition, the processors can be hardware circuits designed for artificial intelligence, which can be understood as a type 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 150 can also include a memory that stores instructions, some or all of the processors 151-15n can call the instructions in the memory to implement corresponding functions.

[0072] The vehicle 100 can include an advanced driving assistant system (ADAS) that uses various sensors (including but not limited to lidar, millimeter wave radar, cameras, ultrasonic sensors, global positioning systems, inertial measurement units) on the vehicle to obtain information from the surroundings of the vehicle, and analyzes and processes the obtained information to implement functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring / reminders, and the like, thereby improving the safety, automation level, and comfort of vehicle driving.

[0073] From the logical function, the ADAS system generally includes three main functional modules: a perception module, a decision module and an execution module. The perception module perceives the environment around the vehicle body through sensors, inputs corresponding real-time data to the decision layer processing center, and the perception module mainly includes vehicle-mounted cameras, ultrasonic radars, millimeter wave radars, laser radars, etc. The decision module makes corresponding decisions using computing devices and algorithms based on the information obtained by the perception module. The execution module takes corresponding actions such as driving, lane changing, steering, braking, warning, etc. after receiving the decision signal from the decision module.

[0074] At different automatic driving levels (L0-L5), ADAS can achieve different levels of automatic driving assistance based on artificial intelligence algorithms and information obtained by multiple sensors. The above automatic driving levels (L0-L5) are based on the classification standard of the Society of Automotive Engineers (SAE). Among them, L0 level is non-automation; L1 level is driving assistance; L2 level is partial automation; L3 level is conditional automation; L4 level is high automation; L5 level is complete automation. The tasks of monitoring the road conditions and making responses from L1 to L3 levels are completed by the driver and the system together, and the driver needs to take over the dynamic driving task. L4 and L5 levels can make the driver completely change to the role of a passenger. At present, the functions that ADAS can achieve mainly include but are not limited to: adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, front intersection traffic warning / braking, rear intersection traffic warning / braking, front vehicle collision warning, lane departure warning, lane keeping assistance, rear vehicle collision warning, traffic sign recognition, traffic congestion assistance, highway assistance, etc. It should be understood that the above various functions can have specific modes at different automatic driving levels (L0-L5), and the higher the automatic driving level, the more intelligent the corresponding mode. For example, automatic parking can include APA, RPA and AVP, etc. For APA, the driver does not need to manipulate the steering wheel, but still needs to control the accelerator and brake on the vehicle; for RPA, the driver can use a terminal (such as a mobile phone) to remotely control the vehicle to park outside the vehicle; for AVP, the vehicle can complete parking without a driver. In terms of corresponding automatic driving levels, APA is approximately at the L1 level, RPA is approximately at the L2-L3 level, and AVP is approximately at the L4 level.

[0075] In the embodiments of the present application, the perception system 120 is used to obtain the parkable area around the vehicle, the display device 130 can display the parkable area, and the target area is preliminarily determined in response to the operation of the user, and the computing platform 150 controls the vehicle to park into the target area according to the above target area.

[0076] FIG. 2 shows a schematic diagram of a system architecture required for implementing the parking method provided in the embodiments of the present application, which can be arranged in the vehicle 100 shown in FIG. 1, and the system includes a perception module 210, a human-computer interaction module 220, a communication module 230, a planning and control module 240, and an actuator 250. Specifically,

[0077] The perception module 210 can include a road side unit (RSU) of an area where the vehicle is located, and can also include one or more camera devices in the perception system 120 shown in FIG. 1, or one or more radar sensors, for collecting environmental information of the area where the vehicle is located, such as information of parking lines, information of obstacles, etc. The perception module 210 can also process the collected environmental information to establish a world model including roads, obstacles, etc. for downstream modules (such as the human-computer interaction module 220 and the planning and control module 240). For example, the perception module 210 can determine an area available for vehicle parking according to the obstacles and / or the parking lines, and send information of the area available for vehicle parking to the human-computer interaction module 220.

[0078] The human-computer interaction module 220 can include one or more of the display devices 130 shown in FIG. 1, such as an HMI. The human-computer interaction module 220 can also include a sound emitting device (such as a speaker, a sound box, etc.) and a sound receiving device (such as a microphone). The human-computer interaction module 220 can display one or more images or diagrams or icons of the areas available for vehicle parking. The system can determine a target parking area for the vehicle to park into according to the input of the user to the human-computer interaction module 220. Further, the human-computer interaction module 220 can send information (such as information of position and pose) of the target parking area to the planning and control module 240.

[0079] Further, the human-machine interaction module 220 can also prompt the user to support the parking function 1 and the parking function 2, wherein the vehicle does not need to be authorized by the user through the mobile phone in the parking function 1, and the vehicle can be controlled to park in the target parking space in the parking function 1 when the vehicle detects that the user requests to start the parking function 1 by clicking the vehicle screen or by voice instruction; the vehicle needs to be authorized by the user through the mobile phone in the parking function 2, and the vehicle is controlled to park in the target parking space in the parking function 2 after the user authorizes the automatic parking process through the mobile phone. The vehicle in the parking function 1 can be automatically switched to the P gear and controlled to park in the target parking space; or the vehicle in the parking function 2 needs to be controlled by the user to switch to the P gear and park in the target parking space. Further, the system can determine to start the parking function 1 or determine to close the parking function 1 in response to the input of the user to the human-machine interaction module 220. When the system controls the vehicle to park in the target parking space based on the parking function 1, the system can pause the parking or exit the parking function 1 in response to the input of the user to the human-machine interaction module 220.

[0080] The communication module 230 can include the communication system 140 shown in FIG. 1, and when the system determines to start the parking function 1, the communication module 230 can send information 1 to the electronic device 1 (such as a mobile phone) associated with the vehicle, which is used to indicate that the vehicle controls the parking in the parking function 1. Alternatively, the communication module 230 can also receive information 2 from the electronic device 1, which is used to indicate that the electronic device 1 controls the vehicle braking. The communication module 230 can send information 3 to the planning control module 240 according to the information 2, so that the planning control module 240 controls the vehicle braking.

[0081] The planning control module 240 can be one or more processors in the computing platform 150 shown in FIG. 1, which is used to plan the motion path of the vehicle from the current region to the target parking area according to the information of the target parking space from the human-machine interaction module 220, or also can plan the pose of the vehicle in the target parking area. Further, the planning control module 240 calculates the corresponding control amount according to the above-mentioned planned motion path, and outputs the above-mentioned control amount to the actuator 250. Alternatively, the planning control module 240 can also determine the braking torque according to the information 3 from the communication module 230, and input the braking torque to the actuator.

[0082] When the actuator 250 executes the above-mentioned control amount, the vehicle is controlled to travel to the target parking area according to the planned motion path, or also can be parked in the target parking area according to the target pose. When the actuator 250 executes the above-mentioned braking torque, the vehicle can be controlled to brake (such as the vehicle speed is reduced to 0).

[0083] In some possible implementations, the actuator can include a steering and brake control system in the vehicle 100.

[0084] It should be understood that the above modules are only an example, and in actual applications, the above modules can be added or deleted according to actual needs. For example, in the system architecture shown in FIG. 2, the human-computer interaction module 220 and the communication module 230 can be combined into one module.

[0085] FIG. 3 shows a schematic flowchart of a parking method provided by an embodiment of the application, which method 300 can be executed by a vehicle, a device 1 and a server, wherein the vehicle can be the vehicle 100 shown in FIG. 1, and the device 1 can be a device associated with the vehicle. Wherein the device 1 and the vehicle being associated can include that the account logged in the device 1 and the vehicle console are the same; or the accounts logged in the device 1 and the vehicle console are different, but are the accounts of authorized users of the vehicle. Illustratively, the device 1 can be a handheld device with wireless communication function, a wearable device, a computing device or other processing device connected to a wireless modem, etc. For example, the device 1 can be a mobile phone, a tablet computer, a watch, a bracelet, etc. More specifically, the method 300 can include:

[0086] S301, determining to start a parking function 1.

[0087] Illustratively, the vehicle supports a parking function 1 and a parking function 2, the vehicle does not need to be authorized by the user through the mobile phone for the automatic parking process under the parking function 1, and in the case that the vehicle detects that the user requests to start the parking function 1 by clicking the vehicle screen or through voice instruction, the vehicle can control the vehicle to park into a target parking space under the parking function 1; the vehicle needs to be authorized by the user through the mobile phone for the automatic parking process under the parking function 2, and after the user authorizes the automatic parking process through the mobile phone, the vehicle controls the vehicle to park into a target parking space under the parking function 2. For example, the parking function 2 can be an RPA function, and the parking function 1 can be referred to as a walk-away-from-car function, or the parking function 1 can also be other names.

[0088] In some implementations, the vehicle can start the parking function 1 in response to the user's instruction. For example, when the user's voice "smart assistant, start the parking function 1" is detected, it is determined to start the parking function 1; for another example, the display screen of the vehicle displays a parking interface, and the parking interface recommends the parking function 1 and the parking function 2, and in response to the user's operation of clicking the parking function 1, it is determined to start the parking function 1.

[0089] In some implementations, the display screen of the vehicle displays a parking interface including one or more free parking spaces. When it is detected that the user clicks one of the one or more free parking spaces, the free parking space is determined as a target parking space. Then, it is determined whether to start the parking function 1 according to the risk level of the target parking space (e.g., the risk of collision and / or the risk of falling during the parking of the vehicle into the target parking space). For example, the risk level is represented by a risk level, and the higher the risk level, the higher the risk of collision and / or the risk of falling. When the risk level of the target parking space is lower than or equal to a threshold, it is determined to start the parking function 1. When the risk level of the target parking space is higher than the threshold, it is determined to start the parking function 2. For another example, the risk level is represented by other manners. When the risk level of the target parking space exceeds a risk level threshold, it is determined to start the parking function 1. Otherwise, it is determined to start the parking function 2. The risk level threshold can be 80%, or 70%, or other values. For another example, it is further determined whether to start the parking function 1 according to the type of the target parking space. For example, when the target parking space is a flat parking space, it is determined to start the parking function 1. When the target parking space is a stereo parking space (e.g., a mechanical parking space), it is determined to start the parking function 2.

[0090] For example, the risk level P can be determined according to the following formula: P = a*P1 + b*P2 + c*P3, where P1 represents the risk caused by the type of the parking space. For example, when the type of the parking space is a flat parking space, P1 is 0. When the type of the parking space is a stereo parking space, P1 is 1. P2 represents the risk caused by the obstacles around the parking space. For example, when there is a suspended obstacle above the parking space or there is a negative obstacle (e.g., a parking space located at a broken road) within a certain range (e.g., 0.3 meters or 0.5 meters) of the parking space, P2 is 1. When there is an obstacle in the same plane as the parking space within a certain range (e.g., 0.3 meters or 0.5 meters) of the parking space, P2 is 0.5. When there is no obstacle above and around the parking space, P2 is 0. P3 represents the risk caused by the parking scenario. For example, when the parking space is in a parking lot, P3 is 0. When the parking space is beside a road, P3 is 1. a, b, and c represent the weights of each item. For example, when a, b, and c are 1, the value range of P is 0-3. The threshold can be 1, or 1.5, or other values. For example, the threshold can be 80% of the maximum risk level, or 70%, or other values. In actual implementation, a, b, and c can be other values. In addition, the risk level of the parking space can be determined in combination with other factors.

[0091] Optionally, the risk level of the target parking space can be determined by the server, and then the server determines whether to start the parking function 1. When it is determined to start the parking function 1, the server sends a notification to the vehicle to control the vehicle to start the parking function 1.

[0092] Optionally, the vehicle can control the display screen to display the aforementioned parking interface when the vehicle is identified to enter the parking lot. Alternatively, the vehicle can also display the parking interface in response to the operation of the user.

[0093] In some implementations, when the vehicle detects the operation of the user requesting to start the parking function 1, or before the vehicle controls to start the parking function 1, the vehicle sends the account information currently logged in the vehicle to the server, the server authenticates the account information, confirms whether the account indicated by the account information supports the parking function 1, and when it is determined that the account indicated by the account information supports the parking function 1, the server sends an indication that the parking function can be started to the vehicle, and the vehicle starts the parking function 1 according to the indication.

[0094] In some implementations, after the vehicle starts the parking function 1 in response to the instruction of the user, if the vehicle determines that the risk level of the target parking space is greater than or equal to the level threshold, the vehicle can control to close the parking function 1 to improve the safety during parking.

[0095] After starting the parking function 1, according to whether the driver or passenger on the vehicle gets off the vehicle and whether the doors are closed, two cases (case 1, case 2) can be divided. If the driver or passenger on the vehicle gets off the vehicle within a time length 1, and all the doors are closed, S302 to S307 are executed; otherwise, S308 is executed. The time length 1 can be 3 minutes, 5 minutes, or other time lengths.

[0096] Optionally, when the driver or passenger on the vehicle gets off the vehicle within a preset time length, all the doors are closed, and the distance between the driver or passenger and the vehicle is greater than or equal to a distance threshold 1, S302 to S307 are executed; or, when the driver or passenger on the vehicle gets off the vehicle within a preset time length, all the doors are closed, and a time length 2 after the time when the last door of the vehicle is closed is calculated, S302 to S307 are executed. The distance threshold 1 can be 80 meters, or 50 meters, or other numerical values; the time length 2 can be 3 minutes, or 5 minutes, or other numerical values. That is, the gear of the vehicle can be controlled to be switched to the parking gear after the driver or passenger on the vehicle gets off the vehicle and the doors are closed. It should be understood that when the driver or passenger on the vehicle gets off the vehicle, the vehicle can be in the driving (D) gear.

[0097] In some implementations, when the vehicle starts the parking function 1, S302 is executed after detecting that the user steps on the brake and selects the target parking space; or, when the vehicle starts the parking function 1 and the vehicle is in the D gear, S302 is executed after detecting that the user selects the target parking space. That is, the gear of the vehicle can also be controlled to be switched when the driver or passenger on the vehicle does not get off the vehicle.

[0098] In some implementations, after S301, S303 can be directly performed. That is, when the vehicle is in the parking state, the vehicle does not need to be controlled to switch to the P gear, and S303 can be directly performed after the driver and passengers get off the vehicle and the doors are closed.

[0099] S302, controlling the gear of the vehicle to switch to the parking gear.

[0100] Exemplarily, the parking gear can be the P gear, or can also be other gears for parking. More specifically, the vehicle can be controlled to switch from the D gear to the P gear.

[0101] S303, controlling the vehicle to park into the target area.

[0102] Exemplarily, when the driver and passengers on the vehicle get off the vehicle within a preset time length, the doors are all closed, and the distance between the driver and passengers and the vehicle is greater than or equal to a distance threshold 2, the vehicle is controlled to park into the target area; or, when the driver and passengers on the vehicle get off the vehicle within a preset time length, the doors are all closed, and a time length 2' after the time when the last door of the vehicle is closed, the vehicle is controlled to park into the target area. The distance threshold 2 can be 80 meters, or can also be 50 meters, or can also be other numerical values; the time length 2' can be 3 minutes, or 5 minutes, or can also be other numerical values.

[0103] S304, the vehicle sends information a to the device 1, and the information a includes the parking state and the image collected in the parking process.

[0104] The parking state can include any one of the parking preparation (i.e., about to park into the target parking space), the parking in progress, and the parking completion (i.e., has parked into the target parking space and parked). The image collected in the parking process can include the relative position relationship between the vehicle and the target parking space, or can also include the obstacle information (such as the position, the motion dynamics, etc.) around the target parking space.

[0105] Exemplarily, the vehicle sends the information a to the device 1 through the server.

[0106] S305, the device 1 displays the parking state and / or the parking picture.

[0107] Exemplarily, the device 1 displays the parking state and / or the parking picture through the vehicle owner application (application, APP), or the device 1 displays the parking state in the status notification bar. The vehicle owner APP can include an application that provides the vehicle control for the legal authorized user of the vehicle, and / or an application that provides the service of understanding the condition information of the vehicle for the legal authorized user of the vehicle.

[0108] S306, when the event 1 occurs in the process that the vehicle parks into the target area, the vehicle is controlled to pause parking into the target area.

[0109] For example, the event 1 can include any one of the following: a door handle of any door of the vehicle is pulled, any door of the vehicle is opened, or information b of the device 1 is received. The information b is used to indicate that the vehicle is braking.

[0110] In actual implementation, if the door handle of the vehicle is a hidden handle, the hidden door handle remains in the popped-out state during the process that the vehicle opens the parking function 1.

[0111] S307, when the door of the vehicle is closed and the event 2 occurs, the vehicle is controlled to continue parking into the target area.

[0112] For example, the event 2 can include any one of the following: a voice instruction (such as audio “please continue parking”) indicating to continue parking is detected in the vehicle, a button for continuing parking in the vehicle is pressed, or information c from the device 1 is received. The information c is used to indicate that the vehicle continues to park.

[0113] Optionally, during the process that the vehicle is controlled to continue parking into the target parking area, there can be a passenger in the vehicle.

[0114] In some implementations, the event 1 occurs at time 1, and the vehicle can be controlled to continue parking into the target area after time 2. The time interval between time 1 and time 2 can be 30 seconds, or 40 seconds, or other time length.

[0115] S308, within a time length 1 after the parking function 1 is opened, the parking function 1 is closed when the passenger in the vehicle does not get off the vehicle or the door of the vehicle is closed.

[0116] In an example, within the time length 1 after the parking function 1 is opened, the parking function 1 is closed when the passenger in the vehicle does not get off the vehicle.

[0117] In another example, within the time length 1 after the parking function 1 is opened, the parking function 1 is closed when the passenger in the vehicle gets off the vehicle but the door is not closed. Alternatively, within the time length 1 after the parking function 1 is opened, the passenger in the vehicle gets off the vehicle but the door is not closed, the user is prompted to close the door through the device 1, and if the door is still not closed within a time length 4 after the user is prompted to close the door, the parking function 1 is closed. The time length 4 can be 1 minute, or 2 minutes, or other time length.

[0118] In some implementations, the parking function 2 is opened when the parking function 1 is closed; or the automatic parking process is exited when the parking function 1 is closed.

[0119] In some implementations, when the parking function 1 is stuck (e.g., the vehicle stops and no longer moves) due to a collision or an obstacle in the parking path, etc., the vehicle sends information d to the device 1, which indicates a parking anomaly, so that the device 1 prompts the user of the parking anomaly and / or prompts the user to take over the vehicle. Optionally, when the parking function 1 is stuck, the vehicle is also controlled to turn on the hazard warning lights for risk prompt.

[0120] The parking method provided by the embodiments of the present application can automatically switch the gear of the vehicle and control the vehicle to park into the target parking space after the user leaves the vehicle and closes the door under the parking function 1, which helps to simplify the automatic parking process, shorten the time required for the vehicle to enter the automatic parking process, thereby shortening the parking time, and helps to improve the user experience when using the automatic parking function.

[0121] In order to facilitate the understanding of the parking scheme of the present application, the method 300 will be described below in combination with the graphic user interface (GUI) shown in FIGS. 4 to 7.

[0122] FIG. 4 shows a schematic diagram of a parking interface displayed by the central control screen according to an embodiment of the present application. As shown in (a) of FIG. 4, the vehicle indicated by the icon 401 is an example of the vehicle in the method 300, and the position of the icon 401 in the interface indicates the coordinates of the actual area where the vehicle is located. The parking interface also includes icons of multiple parking spaces, some of which indicate used parking spaces (e.g., icons 402 and 405), and some of which indicate idle parking spaces (e.g., icons 403, 404, and 406).

[0123] When the user has not selected a target parking space, the vehicle can prompt the user to select an idle parking space for parking, for example, by displaying a dialog box 407 “! Please select the parking space you want to park into”. Exemplarily, the user can select a target parking space by pressing the brake in D gear and clicking on an idle parking space, or the user can select a target parking space by clicking on an idle parking space when the vehicle is in the parking state in D gear. For example, when detecting that the user clicks on the icon 404, the vehicle can determine that the parking space corresponding to the icon 404 is the target parking space, and then the icon 404 can become the icon indicating the target parking space as shown in (b) of FIG. 4. It can be understood that the target parking space indicated by the icon 404 can be regarded as an example of the target area in the method 300.

[0124] In an example, the vehicle or the cloud server can determine the risk level of the parking space corresponding to the icon 404, and determine to start the parking function 1 when the risk level of the parking space corresponding to the icon 403 is lower than or equal to a level threshold. Before starting the parking function 1, the parking interface can be controlled to display a dialog box 408 “Parking function 1 is about to start”, to prompt the user that the parking function 1 is about to start. Optionally, the dialog box 408 can further include a cancel button and a confirmation button, and the “(5s)” after “Confirm” in the confirmation button indicates that the countdown time is 5 seconds. During the 5 seconds, if the user does not take any action, the parking function 1 is started. Alternatively, when the user clicks the confirmation button, the parking function 1 is started immediately. Alternatively, when the user clicks the cancel button, the starting of the parking function 1 is stopped.

[0125] In another example, the vehicle can also determine to start the parking function 1 by other ways described in the method 300. For example, before starting parking (before the user selects the target parking space or after the user selects the target parking space), as shown in (c) of FIG. 4, the vehicle controls the parking interface to display a control button 410 for controlling the starting of the parking function 1. When detecting that the user clicks the control button 410, the vehicle starts the parking function 1. Optionally, after starting the parking function 1, as shown in (d) of FIG. 4, the vehicle can further control the parking interface to display a pop-up window 411 “Parking function 1 has been started”, to prompt the user that the parking function 1 has been started. In addition, the control button 409 for starting the automatic parking process can also be displayed in the parking interface shown in (c) of FIG. 4. For example, if the user does not click the control button 410, but directly clicks the control button 409, the vehicle does not start the parking function 1, but parks in other parking functions (such as the parking function 2).

[0126] In some implementations, after the vehicle starts the parking function 1, the vehicle is controlled to switch to a parking gear (such as P gear). In some other implementations, within a time period 1 after the vehicle starts the parking function 1, the vehicle is controlled to switch to the parking gear (such as P gear) when any of the following occurs: the driver and the passenger in the vehicle get off the vehicle and all the doors of the vehicle are closed; or the driver and the passenger in the vehicle get off the vehicle and all the doors of the vehicle are closed, and the distance between the driver and the passenger and the vehicle is greater than or equal to a distance threshold; or the driver and the passenger in the vehicle get off the vehicle and all the doors of the vehicle are closed, and after a time period 2 from the time when the last door of the vehicle is closed. After the vehicle is controlled to switch to the parking gear, the parking interface can be controlled to display a related state, as shown in (e) of FIG. 4, to prompt the user about the change of the gear of the vehicle through a dialog box 413 “Switched to P gear”. In addition, the parking interface can also display a button 412 for controlling the vehicle to exit the parking function 1, and the vehicle is controlled to exit the parking function 1 when detecting that the user clicks the button 412.

[0127] In some scenarios, after the vehicle starts the parking function 1, or after the vehicle switches to the parking gear, as shown in (f) of FIG. 4, the parking interface can display a dialog box 414 "Please close the door after getting off the vehicle, the vehicle will automatically park in", to prompt the driver and passenger in the vehicle to get off and close the door. Or, when the driver and passenger have not gotten off the vehicle after a time period 3 from the time when the vehicle starts the parking function 1, or when the driver and passenger have not gotten off the vehicle after a time period 3 from the time when the vehicle switches to the parking gear, the parking interface can display the dialog box 414 to prompt the driver and passenger in the vehicle to get off and close the door.

[0128] During the parking process of the vehicle, the vehicle can send information a to the device 1 to make the device 1 display the parking state and / or the parking picture. Taking the device 1 as a mobile phone as an example, FIG. 5 shows a schematic diagram of a GUI of the mobile phone displaying the parking state and / or the parking picture. During the parking process of the vehicle into the parking space, as shown in (a) of FIG. 5, the mobile phone can prompt the parking state (such as the text 511 "Parking") through a pop-up card 510, and in addition, can display the text 512 "Please pay attention to the safety of the surrounding environment, click to view the real-time state", to prompt the user that the user can enter the vehicle owner APP to view the parking picture of the vehicle by clicking the pop-up card 510. Further, when detecting the action of the user clicking the pop-up card 510, the mobile phone display interface switches to the interface of the vehicle owner APP, and displays the parking picture, as shown in (b) of FIG. 5, which can include the picture of the target parking space and the position of the vehicle relative to the target parking space. In actual implementation, the parking picture can be the real-time picture during the parking process, such as the 360-degree around view image collected by the vehicle camera. In addition, the vehicle owner APP interface can also include a pop-up window 520, which includes parking state information (such as the text 521 "Parking into the parking space") and warning information (such as the text 522 "Please pay attention to the surrounding environment of the vehicle"), or can also include a button 523 for controlling the suspension of the automatic parking process. When detecting the user clicking the button 523, the mobile phone sends information b to the vehicle, and the vehicle receives the information b to control the vehicle to brake.

[0129] In some scenarios, the user can close the pop-up card 510 shown in (a) of FIG. 5, and in the case that the pop-up card 510 is closed, the user can still enter the vehicle owner APP interface shown in (b) of FIG. 5 by clicking the icon of the vehicle owner APP of the main interface of the mobile phone. In addition, for the interface shown in (a) of FIG. 5, the user can also not perform any operation, and when the parking state changes, the pop-up card can update the parking related information, as shown in (c) of FIG. 5, wherein the text 531 "Parking completed" in the pop-up card 530 is used to prompt the parking state, and the text 532 "The vehicle has been automatically locked and powered off" is used to prompt the latest state of the vehicle.

[0130] In some scenarios, the user closes the pop-up card 510 or the user closes the owner APP interface shown in (b) of FIG. 5, and the parking-related information can be updated by pushing a pop-up card (such as the pop-up card 530) when the parking state changes.

[0131] In some implementations, in the process of controlling the vehicle to park under the parking function 1, in the case of suspending parking due to event 1, the parking interface of the vehicle can display the reason for suspending parking. For example, as shown in (a) of FIG. 6, when the vehicle door is detected to be opened during parking, the parking interface can display a dialog box 601 “Vehicle door opened, parking suspended”. In addition, the parking interface of the vehicle can also display a button 602 for controlling to continue parking. In the state of the vehicle door being opened, the button 602 is grayed out, that is, when the user clicks the button 602, the vehicle will not continue to park. If the vehicle door is closed within a certain time (such as 30 seconds) from the suspension of parking, the button will return to a clickable state, as shown in (b) of FIG. 6, button 604, when the user clicks button 604, the vehicle continues to park. In addition, when the vehicle door is closed, the parking interface can also display a dialog box 605 “Vehicle door closed” to prompt the user of the vehicle door status.

[0132] In the case of suspending parking due to event 1, the parking interface of the owner APP on the mobile phone can display the parking state, the parking picture and the button for controlling to continue parking. For example, as shown in (a) of FIG. 7, the parking interface of the mobile phone can display the real-time picture of the surroundings of the vehicle, in addition, the parking interface also displays a pop-up window 710, the text 711 “Parking suspended” in the pop-up window 710 is used to prompt the parking state, and the pop-up window 710 also includes a button 712 for controlling to continue the automatic parking process. When detecting that the user clicks the button 712, the mobile phone sends information c to the vehicle, and the vehicle receives the information c and controls the vehicle to continue parking when the vehicle door is closed.

[0133] In some implementations, in the process of controlling the vehicle to park under the parking function 1, in the case of parking function 1 being stuck due to a collision or an obstacle in the parking path, etc., when the mobile phone receives the notification from the vehicle about the parking function abnormality, a pop-up card 720 can be displayed, which includes the text “Parking function abnormal, please take over the vehicle” to prompt the user that the parking function 1 is abnormal and needs to take over the vehicle. Alternatively, in the case of parking function 1 being abnormal and exiting, when the mobile phone receives the notification from the vehicle about the parking function exiting, a pop-up card 730 can be displayed, which includes the text “Parking function has exited” to prompt the exit state of the parking function 1. When detecting that the user clicks the pop-up card 730, the mobile phone opens the owner APP and displays the parking interface, which can include the location of the vehicle and the image of the surroundings of the location of the vehicle.

[0134] It should be noted that the various icons in the GUI shown in FIGS. 4-7 are only exemplary, and the icons shown in FIGS. 4-7 can also be in other forms in actual implementation.

[0135] FIG. 8 shows a schematic flowchart of a parking method 800 provided by an embodiment of the present application. The method 800 can be performed by the vehicle 100 shown in FIG. 1. The method 800 includes:

[0136] S810, obtaining a first instruction, the first instruction indicating a first parking area.

[0137] Exemplarily, the first parking area can be the target area in the method 300. Taking the parking space indicated by the icon 404 shown in (a) of FIG. 4 as the target area, the first instruction can be an instruction generated by detecting that the user clicks the icon 404 shown in (a) of FIG. 4; or the first instruction can also be an instruction generated by detecting that the user steps on the brake in the D gear and clicks the icon 404 shown in (a) of FIG. 4; or the first instruction can also be an instruction generated by detecting that the user clicks the icon 404 shown in (a) of FIG. 4 in the D gear parking state.

[0138] S820, when at least one of the following occurs, controlling to start a first parking function: a risk degree of the first parking area meets a preset condition, detecting that a driver or passenger of the vehicle clicks a button for enabling the first parking function displayed on a first screen of the vehicle, or detecting a voice of the driver or passenger for enabling the first parking function.

[0139] Exemplarily, the risk degree meeting the preset condition can include that the risk level is greater than or equal to a level threshold. Wherein, the specific implementation of determining the risk level of the first parking area can refer to the method of determining the risk level P in S301, which will not be described here again; and the level threshold can be the level threshold in S301.

[0140] Exemplarily, the first parking function can be the parking function 1 in the foregoing embodiments, the first screen can be the center screen of the vehicle as shown in FIG. 4, and the button for enabling the first parking function can be the control button 410 shown in (c) of FIG. 4.

[0141] S830, when the driver or passenger of the vehicle gets off the vehicle and the door of the vehicle is closed, controlling the vehicle to park into the first parking area.

[0142] In some implementations, before controlling the vehicle to park into the first parking area, the method further includes: controlling the gear of the vehicle to switch to the P gear.

[0143] Exemplarily, the parking gear can be the P gear, or can also be other gears for parking or controlling parking.

[0144] In some embodiments, S830 can be refined as: when the occupant gets off the vehicle, the distance between the occupant and the vehicle is greater than or equal to the distance threshold, and the door of the vehicle is closed, controlling the vehicle to park into the first parking area.

[0145] For example, when there are multiple occupants, the distance between the occupant and the vehicle being greater than or equal to the distance threshold can be that the closest distance between the occupant and the vehicle is greater than or equal to the distance threshold.

[0146] In some embodiments, S830 can be refined as: controlling the vehicle to start parking into the first parking area at a first time, a time interval between the first time and a second time being greater than or equal to a first time threshold, and the first time being after the second time, the second time being when the occupant gets off the vehicle and closes the door.

[0147] For example, the distance threshold can be the distance threshold 2 in method 300; the first time threshold can be the time 2' in method 300.

[0148] In some embodiments, the first instruction in S810 is obtained at a third time, and S830 can be refined as: when the occupant gets off the vehicle and closes the door of the vehicle before a fourth time, controlling the vehicle to park into the first parking area, the fourth time being after the third time, and a time interval between the fourth time and the third time being less than or equal to a second time threshold. Or, the first parking function is started at the third time, and when the occupant gets off the vehicle and closes the door of the vehicle before the fourth time, controlling the vehicle to park into the first parking area. If the occupant does not get off the vehicle or the door is not closed before the fourth time, the vehicle is not controlled to park into the first parking area, or the first parking function is closed.

[0149] For example, the second time threshold can be the time 1 in method 300.

[0150] In some embodiments, method 800 further includes: when any of the following occurs during the process of the vehicle parking into the first parking area, controlling the vehicle to pause parking into the first parking area: detecting that a first door handle of the vehicle is pulled, detecting that a first door of the vehicle is opened, or receiving first information from an electronic device; wherein the electronic device is associated with the vehicle, and the first information is used to control the vehicle to brake.

[0151] For example, the first door handle can be any door handle of the vehicle, the first door can be any door of the vehicle, the electronic device can include the device 1 in method 300, and the first information can be the information b in method 300.

[0152] In some embodiments, the method 800 further includes stopping at the first position when the vehicle is paused from parking into the first parking area, and the method further includes controlling the vehicle to park into the first parking area from the first position when the door of the vehicle is closed and any of the following occurs: the first voice is detected, the first button of the vehicle is clicked, or the second information from the electronic device is received.

[0153] The first voice, the first button, and the second information are used to control the vehicle to continue driving. For example, the first voice can be an audio for controlling to continue parking, such as "please continue parking", the first button can be a button in the vehicle for continuing parking, and the second information can be the information c in the method 300.

[0154] In some embodiments, the method 800 further includes sending third information to the electronic device, the third information including a parking state of the vehicle and / or an image collected during parking into the first parking area.

[0155] For example, the third information is the information a in the method 300.

[0156] In some embodiments, the method 800 further includes obtaining a second instruction at a fifth time, the second instruction indicating a second parking area, and controlling to close the first parking function when the first parking function is started and the driver and / or the door of the vehicle is not closed within a first time period after the fifth time.

[0157] For example, the first time period can be the time period 1.

[0158] The parking method provided by the embodiments of the present application can control the vehicle to automatically park into the target parking area after the user gets off the vehicle and closes the door when the first parking function is started, without the user controlling the automatic parking process through the mobile phone, simplifying the interaction process between the user and the vehicle during the automatic parking process, and helping to shorten the time period required for starting the automatic parking process, thereby improving the automatic parking efficiency. In addition, the automatic parking process does not require the mobile phone of the user and the vehicle to maintain a Bluetooth connection, so that the user can get off the vehicle and leave directly after selecting the target area, thereby helping to improve the driving experience of the user.

[0159] FIG. 9 shows a schematic flowchart of a parking method 900 provided by the embodiments of the present application. The method 900 can be performed by the vehicle 100 shown in FIG. 1. The method 900 includes:

[0160] S910, obtaining a first instruction, the first instruction indicating a first parking area.

[0161] S920, controlling the gear of the vehicle to switch to a parking gear according to the first instruction.

[0162] Exemplarily, the parking gear can be a P gear, or can also be another gear for parking or controlling parking.

[0163] In some implementations, S920 can be refined as: when the risk degree of the first parking area meets a preset condition, controlling the gear of the vehicle to switch to the parking gear according to the first instruction, the risk degree indicating a collision risk and / or a falling risk when the vehicle parks into the first parking area.

[0164] In some implementations, the first parking function is controlled to be started when at least one of the following occurs: the risk degree of the first parking area meets a preset condition, it is detected that a driver or a passenger of the vehicle clicks a button for starting the first parking function displayed on a first screen of the vehicle, or it is detected that the driver or the passenger speaks a voice for starting the first parking function, and the first parking function is controlled to be started; S920 can be refined as: under the first parking function, controlling the gear of the vehicle to switch to the parking gear according to the first instruction.

[0165] S930, when the driver or the passenger of the vehicle gets off the vehicle and the door of the vehicle is closed, controlling the vehicle to park into the first parking area.

[0166] Exemplarily, the related descriptions about the first instruction, the first parking area, the determination manner of the risk degree, the level threshold, and the first parking function can refer to the related content in the method 800, which will not be repeated here.

[0167] In some implementations, S930 can be refined as: when the driver or the passenger gets off the vehicle, the distance between the driver or the passenger and the vehicle is greater than or equal to a distance threshold, and the door of the vehicle is closed, controlling the vehicle to park into the first parking area.

[0168] In some implementations, S930 can be refined as: controlling the vehicle to start to park into the first parking area at a first time, a time interval between the first time and a second time is less than or equal to a first time threshold, and the first time is after the second time, the second time being a time when the driver or the passenger gets off the vehicle and closes the door.

[0169] In some implementations, the first instruction in S910 is obtained at a third time, and S930 can be refined as: when the driver or the passenger gets off the vehicle and closes the door of the vehicle before a fourth time, controlling the vehicle to park into the first parking area, the fourth time being after the third time, and a time interval between the fourth time and the third time being less than or equal to a second time threshold.

[0170] In some implementations, the method 900 further includes: controlling the vehicle to pause parking into the first parking area when any of the following occurs during the process of the vehicle parking into the first parking area: detecting that a first door handle of the vehicle is pulled, detecting that a first door of the vehicle is opened, or receiving first information from an electronic device; wherein the electronic device is associated with the vehicle, and the first information is used to control the vehicle to brake.

[0171] In some implementations, the method 900 further includes: stopping the vehicle at the first position when the vehicle pauses parking into the first parking area, and the method further includes: controlling the vehicle to park into the first parking area from the first position when any of the following occurs after the door of the vehicle is closed: detecting a first voice, a first button of the vehicle being clicked, or receiving second information from the electronic device.

[0172] In some implementations, the method 900 further includes: sending third information to the electronic device, the third information including a parking state of the vehicle and / or an image collected during the process of parking into the first parking area.

[0173] In some implementations, the method 900 further includes: obtaining a second instruction at a fifth time, the second instruction indicating a second parking area; and controlling the first parking function to be closed when the first parking function is started and the driver and / or the door of the vehicle does not leave the vehicle within a first time period after the fifth time.

[0174] It should be noted that the contents not described in detail in the method 900 can be referred to the related description in the method 800, which will not be described here.

[0175] The parking method provided by the embodiments of the present application can automatically switch the vehicle to the P gear after determining the target parking area of the vehicle according to the detected operation of the user stepping on the brake in the D gear or selecting the target parking area (i.e., the first parking area) in the D gear parking state, and can control the vehicle to automatically park into the target parking area after the user gets off the vehicle and closes the door, without the need for the user to control the automatic parking process through the mobile phone, thereby simplifying the interaction process between the user and the vehicle in the automatic parking process, helping to shorten the time required to start the automatic parking process, thereby improving the automatic parking efficiency, enabling the user to directly get off the vehicle and leave after selecting the target area, and helping to improve the driving experience of the user.

[0176] It should be noted that the foregoing scenarios are mainly described by taking the vertical parking space as an example, and in actual implementation, the target parking area of the vehicle can also be a diagonal parking space or a side parking space.

[0177] In the embodiments of the present application, the terms and / or descriptions of different embodiments are consistent and can be mutually referred to if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0178] The parking method provided by the embodiments of the present application is described in detail above in combination with FIG. 1 to FIG. 9. The device provided by the embodiments of the present application will be described in detail below in combination with FIG. 10 and FIG. 11. It should be understood that the description of the device embodiments corresponds to the description of the method embodiments, and therefore, the content not described in detail can be referred to the method embodiments described above, which will not be described here again for the sake of brevity.

[0179] FIG. 10 shows a schematic block diagram of the parking device 2000 provided by the embodiments of the present application, which can include units for performing the methods shown in FIG. 3, FIG. 8, FIG. 9. And each unit in the device 2000 is used to implement the corresponding process of the above method embodiments. The device 2000 includes an acquisition unit 2010, which can be used to implement the corresponding data acquisition or transceiving function. The device 2000 further includes a processing unit 2020, which can be used to implement the corresponding processing function.

[0180] Optionally, the device 2000 further includes a storage unit, which can be used to store instructions and / or data. The processing unit 2020 can read the instructions and / or data in the storage unit, so that the device implements the related actions in the foregoing various method embodiments.

[0181] It should be understood that the specific process of each unit performing the above corresponding steps has been described in detail in the above method embodiments, which will not be described here again for the sake of brevity.

[0182] It should be understood that the device 2000 here is embodied in the form of functional units. The term "module" or "unit" here can refer to an application-specific ASIC, an electronic circuit, a processor (for example, a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combination logic circuit, and / or other suitable components that support the described functions.

[0183] The device of each of the above solutions has the function of implementing the corresponding steps performed by the computing platform 150 in the above method. The function can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions; for example, the acquisition unit 2010 can be replaced by a transceiver, and other units, such as the processing unit, etc., can be replaced by a processor, for performing the related processing operations in the various method embodiments.

[0184] Exemplarily, the acquisition unit 2010 and the processing unit 2020 can be arranged in the vehicle 100 shown in FIG. 1, or can also be arranged in the system shown in FIG. 2, and more specifically, the acquisition unit 2010 and the processing unit 2020 can be arranged in the planning control module 240. Exemplarily, the operations performed by the acquisition unit 2010 and the processing unit 2020 can be performed by one processor, or can also be performed by different processors. In a specific implementation process, the one or more processors can be the processor arranged in the vehicle 100 shown in FIG. 1, or the apparatus 2000 can be a chip arranged in the vehicle 100.

[0185] In a specific implementation process, the units in the above apparatus can be integrated together or can also be independently implemented. In one implementation, the units are integrated together to be implemented in the form of a system on a chip (SoC).

[0186] FIG. 11 is another schematic block diagram of a parking apparatus provided by an embodiment of the present application. The parking apparatus 2100 shown in FIG. 11 can include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, the transceiver 2120, and the memory 2130 are connected through an internal connection path. The memory 2130 is configured to store instructions, and the processor 2110 is configured to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Optionally, the memory 2130 can be coupled to the processor 2110 through an interface, or can be integrated with the processor 2110.

[0187] It should be noted that the transceiver 2120 can include, but is not limited to, a transceiving device such as an input / output interface, to implement the communication between the apparatus 2100 and other devices or communication networks.

[0188] The memory 2130 can be volatile memory and / or nonvolatile memory. In particular, the nonvolatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically EPROM (EEPROM), or flash memory. The volatile memory can be random access memory (RAM). For example, the RAM can be used as external cache. By way of example and not limitation, the RAM includes the following types: static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0189] The transceiver 2120 uses a transceiving device such as, but not limited to, a transceiver to implement communication between the device 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above embodiments.

[0190] The embodiments of the present application also provide an intelligent driving device, which includes the parking device 2000 or the parking device 2100 in the above embodiments.

[0191] The intelligent driving device related to the embodiments of the present application can include a road vehicle, a water vehicle, an air vehicle, an industrial device, an agricultural device, or an entertainment device, etc. For example, the intelligent driving device can be a vehicle, which is a general concept of a vehicle, and can be a vehicle (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying vehicle, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a mower, a harvester, etc.), an entertainment device, a toy vehicle, etc. The embodiments of the present application do not specifically limit the type of the vehicle.

[0192] The embodiment of the present application further provides a computer program product, which comprises computer program codes, and when the computer program codes are run on a computer, the computer program codes make the computer implement the method in each embodiment of the present application.

[0193] The embodiment of the present application further provides a computer readable storage medium, which stores computer instructions, and when the computer instructions are run on a computer, the computer instructions make the computer implement the method in each embodiment of the present application.

[0194] The embodiment of the present application further provides a chip, which comprises a circuit, and is used for executing the method in each embodiment of the present application.

[0195] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, and will not be described here.

[0196] In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" in this paper is a description of the association relationship of the associated object, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist simultaneously, and B exists alone. In the present application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or similar expressions means any combination of these items, including any combination of single item or multiple items. For example, at least one of a, b, or c, can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0197] In the embodiments of the present application, the prefix words such as "first", "second" are only used 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 ordinal words such as ordinal words in the embodiments of the present application does not limit the described objects, and the description of the described objects should be referred to the description of the context in the claims or embodiments, and should not be limited by the use of such prefix words.

[0198] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the division of the above-described device embodiments is only a logical function division, and there can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0199] In each embodiment of the present application, the terms and / or descriptions between different embodiments have consistency and can be mutually referred to if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0200] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0201] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0202] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited to this, and 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 in the protection scope of the present application. 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: obtaining a first instruction, the first instruction indicating a first parking area; controlling a gear of the vehicle to switch to a parking gear according to the first instruction; controlling the vehicle to park into the first parking area when a passenger of the vehicle gets off the vehicle and a door of the vehicle is closed.

2. The method of claim 1, wherein, The controlling the vehicle to park into the first parking area comprises: controlling the vehicle to park into the first parking area when the passenger gets off the vehicle, a distance between the passenger and the vehicle is greater than or equal to a distance threshold, and the door of the vehicle is closed.

3. The method of claim 1, wherein, The controlling the vehicle to park into the first parking area comprises: controlling the vehicle to start to park into the first parking area at a first time, a time interval between the first time and a second time is less than or equal to a first time threshold, and the first time is after the second time, the second time being a time when the passenger gets off the vehicle and the door is closed.

4. The method according to any one of claims 1 to 3, characterized in that, The first instruction is obtained at a third time, and the controlling the vehicle to park into the first parking area comprises: controlling the vehicle to park into the first parking area before the passenger gets off the vehicle and closes the door of the vehicle at a fourth time, the fourth time being after the third time, and a time interval between the fourth time and the third time being less than or equal to a second time threshold.

5. The method according to any one of claims 1 to 4, characterized in that, The controlling the gear of the vehicle to switch to the parking gear according to the first instruction comprises: controlling the gear of the vehicle to switch to the parking gear according to the first instruction when a risk degree of the first parking area meets a preset condition, the risk degree indicating a collision risk and / or a falling risk when the vehicle parks into the first parking area.

6. The method according to any one of claims 1 to 5, characterized in that, The method further comprises: controlling the vehicle to pause to park into the first parking area when any of the following occurs during the vehicle parks into the first parking area: detecting that a first door handle of the vehicle is pulled, detecting that a first door of the vehicle is opened, or receiving first information from an electronic device; wherein the electronic device is associated with the vehicle, and the first information is used to control the vehicle to brake.

7. The method of claim 6, wherein, The vehicle pauses to park into the first parking area and stops at a first position, and the method further comprises: controlling the vehicle to park into the first parking area from the first position when the door of the vehicle is closed and any of the following occurs: detecting a first voice, detecting that a first button of the vehicle is clicked, or receiving second information from the electronic device.

8. The method according to any one of claims 1 to 7, characterized in that, The method further comprises: sending third information to an electronic device, the third information comprising a parking state of the vehicle and / or an image collected during the parking into the first parking area; wherein the electronic device is associated with the vehicle.

9. The method according to any one of claims 1 to 8, characterized in that, The method further comprises: controlling to start the first parking function when the risk degree of the first parking area meets the preset condition and / or detecting that a user clicks a button displayed on a first screen of the vehicle for enabling the first parking function. The risk degree indicates a collision risk and / or a falling risk when the vehicle parks into the first parking area; The control of the gear of the vehicle to the parking gear according to the first instruction comprises: In the first parking function, the gear of the vehicle is controlled to switch to the parking gear according to the first instruction.

10. The method according to any one of claims 1 to 9, characterized in that, The method further comprises: A second instruction is acquired at a fifth moment, and the second instruction indicates a second parking area; When the first parking function is started and the driver and / or the vehicle door is not closed within a first time length after the fifth moment, the first parking function is controlled to be closed.

11. A parking device, characterized in that Comprise: An acquisition unit is configured to acquire a first instruction, the first instruction indicating a first parking area; A processing unit is configured to control to start a first parking function when at least one of the following occurs: a risk degree of the first parking area meets a preset condition, a driver of a vehicle clicks a button for enabling the first parking function displayed on a first screen of the vehicle, or a voice for enabling the first parking function is detected from the driver; The processing unit is further configured to control the vehicle to park into the first parking area by the first parking function when the driver of the vehicle gets off the vehicle and the vehicle door is closed.

12. The apparatus of claim 11, wherein, The processing unit is configured to: When the driver gets off the vehicle, a distance between the driver and the vehicle is greater than or equal to a distance threshold, and the vehicle door is closed, the vehicle is controlled to park into the first parking area.

13. The apparatus of claim 11, wherein, The processing unit is configured to: The vehicle is controlled to start to park into the first parking area at a first moment, a time interval between the first moment and a second moment is less than or equal to a first time length threshold, and the first moment is after the second moment, the second moment being a moment when the driver gets off the vehicle and closes the vehicle door.

14. The apparatus of any one of claims 11 to 13, wherein, The first instruction is acquired at a third moment, and the processing unit is configured to: When the driver gets off the vehicle and closes the vehicle door before a fourth moment, the vehicle is controlled to park into the first parking area, the fourth moment being after the third moment, and a time interval between the fourth moment and the third moment being less than or equal to a second time length threshold.

15. The apparatus of any one of claims 11 to 14, wherein, The processing unit is configured to: When the risk degree of the first parking area meets a preset condition, the gear of the vehicle is controlled to switch to a parking gear according to the first instruction, the risk degree indicating a collision risk and / or a falling risk when the vehicle parks into the first parking area.

16. The apparatus of any one of claims 11 to 15, wherein, The device further comprises a detection unit; The processing unit is further configured to: When any of the following occurs during the process that the vehicle parks into the first parking area, the vehicle is controlled to pause to park into the first parking area: The detection unit detects that a first door handle of the vehicle is pulled, the detection unit detects that a first door of the vehicle is opened, or the acquisition unit receives first information from an electronic device; The electronic device is associated with the vehicle, and the first information is used to control the vehicle to brake.

17. The apparatus of claim 16, wherein, The device further comprises a detection unit; The vehicle stops at a first position when the vehicle is paused from parking into the first parking area, and the processing unit is further configured to: control the vehicle to park into the first parking area from the first position when the door of the vehicle is closed and any one of the following occurs: the detection unit detects the first voice, the detection unit detects that the first button of the vehicle is clicked, or the acquisition unit receives the second information from the electronic device.

18. The apparatus of any one of claims 11-17, wherein, The processing unit is further configured to: control the third information to be sent to an electronic device, the third information comprising a parking state of the vehicle and / or an image collected during parking into the first parking area; wherein the electronic device is associated with the vehicle.

19. The apparatus of any of claims 11 to 18, wherein, The processing unit is further configured to: control the first parking function to be enabled when the risk level of the first parking area meets a preset condition and / or when the user clicks a button displayed on the first screen of the vehicle for enabling the first parking function; wherein the risk level indicates a collision risk and / or a falling risk when the vehicle parks into the first parking area; under the first parking function, control the gear of the vehicle to be switched to a parking gear according to the first instruction.

20. The apparatus of any one of claims 11-19, wherein, The acquisition unit is further configured to: acquire a second instruction at a fifth time, the second instruction indicating a second parking area; The processing unit is further configured to: control the first parking function to be disabled when the vehicle enables the first parking function and the driver and / or the passenger do not get off the vehicle and / or the door of the vehicle is not closed within a first time period after the fifth time.

21. A parking device, characterized in that comprising: a processor configured to execute a computer program stored in a memory, so that the apparatus performs the method of any one of claims 1 to 10.

22. The apparatus of claim 21, wherein, The apparatus further comprises the memory.

23. An intelligent driving device, comprising: comprising the apparatus of any one of claims 11 to 22.

24. A computer-readable storage medium, characterized in that, instructions stored thereon, which when executed by a processor, implement the method of any one of claims 1 to 10.

25. A computer program product, characterised in that, The computer program product comprises: computer program code which, when executed by a processor, implements the method of any one of claims 1 to 10.

26. A chip, characterized by The chip comprises a circuit configured to execute the method of any one of claims 1 to 10.

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