Control method and apparatus and intelligent driving device

Abstract

A control method and apparatus and an intelligent driving device. The method comprises: acquiring obstacle information, the obstacle information indicating a target parking area of a vehicle or the position of an obstacle around a parking area where the vehicle is located; in response to opening request information, when the obstacle information indicates that there is a first obstacle on a first side of the target parking area, controlling the vehicle to drive into a second area, wherein the opening request information is used for requesting to open a first vehicle door of the vehicle, the first vehicle door corresponds to the first side, and when the vehicle is parked in the second area, the distance between the first vehicle door and the first obstacle is greater than or equal to a first distance threshold; and when an opening demand for the first vehicle door is eliminated, controlling the vehicle to drive into the target parking area from the second area. The technical solution of the present application can be applied to the field of intelligent vehicles such as electric vehicles and new energy vehicles. In a scenario where the opening of a vehicle door is blocked or may be blocked, the total time required for a pickup and / or loading and unloading process can be reduced, thereby improving the convenience of a user.

Description

Control method, device and intelligent driving equipment

[0001] The present application claims priority to the Chinese patent application No. 202410739181.3, filed on June 7, 2024, and entitled "Control 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 control method, device and intelligent driving equipment. BACKGROUND

[0003] If a user needs to open a vehicle door after parking the vehicle in a parking space, for example, taking the tail door as an example, if the distance between the tail door and the obstacle (such as a wall) is small at this time, so that the tail door cannot be opened, or although the tail door can be opened, but the space between the tail door and the obstacle is not convenient for the user to take things, the user needs to control the vehicle to move forward (for example, to re-drive the vehicle, or to remotely control the vehicle to move forward through the mobile phone) to achieve taking things, which is a relatively cumbersome and time-consuming process, resulting in a poor user experience.

[0004] In view of this, a control scheme is urgently needed to save time when the vehicle door is blocked or may be blocked. SUMMARY

[0005] The present application provides a control method, device and intelligent driving equipment, which can save the time required before opening the vehicle door in the scenario that the opening of the vehicle door is blocked or may be blocked, and can also save the time required to move the vehicle back to the parking space after closing the vehicle door, which helps to reduce the total time required for taking things and / or getting on and off the vehicle, and improves user convenience.

[0006] In a first aspect, an intelligent driving 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.

[0007] The method comprises: obtaining obstacle information, the obstacle information indicating a position of an obstacle around a first region, the first region being a parking region where the vehicle is located or a target parking region of the vehicle; in response to opening request information, when the obstacle information indicates that a first obstacle exists on a first side of the first region, controlling the vehicle to enter a second region; wherein the opening request information is used to request to open a first door of the vehicle, the first door corresponding to the first side, and a distance between the first door and the first obstacle is greater than or equal to a first distance threshold when the vehicle is parked in the second region; when the opening demand of the first door is eliminated, controlling the vehicle to enter the first region from the second region.

[0008] In the technical solution, when the vehicle is ready to drive to the target parking area, or in the process of parking into the target parking area, or when the vehicle has parked in the target parking area, the opening requirement of the first door is detected, the vehicle can be controlled to move to the second area according to the space required for opening the first door, and when the opening requirement of the door caused by the door closing and the like is eliminated, the vehicle can drive into the target parking area by itself. In the above process, the user does not need to control the movement of the vehicle, and in the scenario where the door opening is blocked or may be blocked, the time required before opening the door and the time required for moving the vehicle back to the parking space after closing the door can be shortened, which helps to reduce the time required for taking objects and / or getting on and off the vehicle, and improves the convenience of the user. In addition, after the opening requirement of the door is closed, the vehicle is controlled to drive into the target parking area, which can reduce the occupation of the vehicle to the surrounding passable area and / or the surrounding parking area, thereby ensuring the safety of the vehicle itself.

[0009] In combination with the first aspect, in some implementations of the first aspect, after the vehicle drives into the first area from the second area and parks in the first area with the first pose, the vehicle is controlled to drive into the second area, including: when the opening request information is obtained when the vehicle parks in the first area with the second pose, determining the first position of the second area and the third pose of the vehicle in the second area according to the position of the first obstacle and the space required for opening the first door; controlling the vehicle to drive into the second area from the first area and park in the first position with the third pose.

[0010] In the technical solution, when the first obstacle is located at different positions in the first area, the vehicle can be controlled to drive into different areas with different poses according to the different positions of the first obstacle, which can flexibly adjust the position of the vehicle movement. For example, when the first door is a tail door and the first obstacle is located at the side rear of the vehicle, the vehicle can be controlled to drive to the side front, rather than simply driving to the front. It can be understood that, in the case where the first door is a tail door and the first obstacle is located at the side rear of the vehicle, the projection of the distance of driving the vehicle to the side front on the front of the vehicle is smaller than the distance of driving the vehicle to the front, which helps to reduce the occupation of the vehicle to the surrounding passable area and / or the surrounding parking area when moving the vehicle.

[0011] In some implementations of the first aspect, after the vehicle enters the second area from the first area and parks in the first area at the first pose, when the obstacle information indicates that the second obstacle exists on the second side of the first area, the control of the vehicle to enter the second area comprises: when the vehicle parks in the first area at the second pose and obtains the opening request information, determining, according to the position of the first obstacle, the position of the second obstacle, and the space required for opening the first door, a second position of the second area and a fourth pose of the vehicle in the second area; and controlling the vehicle to enter the second area from the first area and park at the second position at the fourth pose; wherein when the vehicle parks at the second position at the fourth pose, the distance between the vehicle and the second obstacle is greater than or equal to the second distance threshold.

[0012] In the above technical solution, when there is another obstacle (such as a second obstacle) in the first area, the vehicle is controlled to enter different areas at different poses according to different positions of the first obstacle and the second obstacle, for example, taking the first door as a tail door, the moving path or moving route of the vehicle can be flexibly adjusted, instead of simply controlling the vehicle to move forward, which can reduce the probability of the vehicle being stuck by the obstacle, and helps to improve the robustness of the control system.

[0013] In some implementations of the first aspect, the method further comprises: determining the space required for opening the first door according to biological feature information of a user of the vehicle; and the biological feature information comprises the height and / or weight of the user.

[0014] In the above technical solution, the space required for opening the first door can be personalized according to different physical characteristics of the user, so as to determine different second areas, which helps to improve the intelligence of the vehicle and also improves the user experience.

[0015] In some implementations of the first aspect, the method further comprises: when the vehicle parks in the first area and obtains the opening request information, and the distance between the first door and the first obstacle is less than the first distance threshold, controlling a prompt device of the vehicle to prompt first information, the first information being used to prompt that the space required for opening the first door is insufficient.

[0016] In some implementations, before or when the vehicle is controlled to move to the second area, the prompt device is controlled to prompt third information, the third information being used to prompt that the vehicle is about to move or is moving to the second area.

[0017] In yet some implementations, before the vehicle is controlled to move from the second area to the first area, the prompt device is controlled to prompt fourth information, the fourth information being used to prompt that the vehicle is about to move or is moving to the first area.

[0018] In the technical solution, the related state of the vehicle is prompted by the prompting device, so that the user knows the reason why the vehicle performs the related action, and the use experience of the user is improved.

[0019] In combination with the first aspect, in some implementations of the first aspect, the first information includes at least one of the following: text information, audio information, or light information.

[0020] In combination with the first aspect, in some implementations of the first aspect, the method further includes: sending, to an electronic device associated with the vehicle, second information, the second information indicating that the space required for opening the first door is insufficient.

[0021] In some implementations, the sixth information indicating that the vehicle is about to move or is moving to the second area can also be sent to the electronic device, so that the electronic device prompts the user that the vehicle is about to move or is moving to the second area, and the user is reminded to avoid.

[0022] In some implementations, the seventh information indicating that the vehicle is about to move or is moving to the first area can also be sent to the electronic device, so that the electronic device prompts the user that the vehicle is about to move or is moving to the first area, and the user is reminded to avoid.

[0023] In the technical solution, the related state of the vehicle is prompted by the prompting device, so that the user knows the reason why the vehicle performs the related action, and the use experience of the user is improved; in addition, when the user is outside the vehicle, the user can be reminded to avoid, and the efficiency of taking objects and / or getting on and off the vehicle is improved.

[0024] In combination with the first aspect, in some implementations of the first aspect, the first door is a tail door of the vehicle.

[0025] In combination with the first aspect, in some implementations of the first aspect, the opening request information includes any one of the following: information generated when it is detected that an opening button at the first door is pressed; first information from an electronic device associated with the vehicle, the first information being generated and / or transmitted when it is detected that a user clicks a button on the electronic device for controlling the opening of the first door; second information from a physical key of the vehicle, the second information being generated and / or transmitted when it is detected that a user presses a button on the physical key for controlling the opening of the first door; voice information for opening the first door detected by the vehicle; or information generated when it is detected that a virtual button displayed on a human machine interface (HMI) in the vehicle for controlling the opening of the first door is clicked.

[0026] In a second aspect, a control device is provided, which includes an obtaining unit and a processing unit. The obtaining unit is configured to obtain obstacle information, the obstacle information indicating a position of an obstacle around a first region, the first region being a parking region where a vehicle is located or a target parking region of the vehicle. The processing unit is configured to, in response to opening request information, control the vehicle to enter a second region when the obstacle information indicates that a first obstacle exists on a first side of the first region, wherein the opening request information is used to request opening of a first door of the vehicle, the first door corresponding to the first side, and a distance between the first door and the first obstacle is greater than or equal to a first distance threshold when the vehicle is parked in the second region. The processing unit is further configured to control the vehicle to enter the first region from the second region when a first door opening requirement is eliminated.

[0027] With reference to the second aspect, in some implementations of the second aspect, the vehicle is parked in the first region in a first pose after entering the first region from the second region, and the processing unit is configured to, when the vehicle is parked in the first region in a second pose and the opening request information is obtained, determine a first position of the second region and a third pose of the vehicle in the second region according to the position of the first obstacle and a space required for opening of the first door, and control the vehicle to enter the second region from the first region and be parked in the second region in the third pose.

[0028] With reference to the second aspect, in some implementations of the second aspect, the vehicle is parked in the first region in a first pose after entering the first region from the second region, and when the obstacle information indicates that a second obstacle exists on a second side of the first region, the processing unit is configured to, when the vehicle is parked in the first region in a second pose and the opening request information is obtained, determine a second position of the second region and a fourth pose of the vehicle in the second region according to the position of the first obstacle, the position of the second obstacle and the space required for opening of the first door, and control the vehicle to enter the second region from the first region and be parked in the second region in the fourth pose, wherein a distance between the vehicle and the second obstacle is greater than or equal to a second distance threshold when the vehicle is parked in the second region in the fourth pose.

[0029] With reference to the second aspect, in some implementations of the second aspect, the processing unit is further configured to determine the space required for opening of the first door according to biological feature information of a user of the vehicle, and the biological feature information includes height and / or weight of the user.

[0030] With reference to the second aspect, in some implementations of the second aspect, the processing unit is further configured to, when the vehicle is parked in the first region and the opening request information is obtained, and the distance between the first door and the first obstacle is less than the first distance threshold, control a prompt device of the vehicle to prompt first information, the first information being used to prompt that the space required for opening of the first door is insufficient.

[0031] In some embodiments of the second aspect, the first information comprises at least one of: text information, audio information, or light information.

[0032] In some embodiments of the second aspect, the processing unit is further configured to: control sending of second information to an electronic device associated with the vehicle, the second information indicating that the space required for opening the first door is insufficient.

[0033] In some embodiments of the second aspect, the first door is a tailgate of the vehicle.

[0034] In some embodiments of the second aspect, the opening request information comprises any one of: information generated upon detecting that an opening button at the first door is pressed; first information from an electronic device associated with the vehicle, the first information being generated and / or transmitted upon detecting that a user clicks a button on the electronic device for controlling opening of the first door; second information from a physical key of the vehicle, the second information being generated and / or transmitted upon detecting that a user presses a button on the physical key for controlling opening of the first door; voice information detected by the vehicle for opening the first door; or information generated upon detecting that a virtual button displayed on a human-computer interaction interface in the vehicle for controlling opening of the first door is clicked.

[0035] A third aspect provides a control apparatus, comprising: 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.

[0036] In some embodiments of the third aspect, the control apparatus further comprises the memory.

[0037] A fourth aspect provides an intelligent driving device, comprising the apparatus in any possible implementation of the second aspect or the third aspect.

[0038] In some embodiments of the fourth aspect, the intelligent driving device is a vehicle.

[0039] A fifth aspect provides a computer program product, comprising: computer program code which, when executed on a computer or processor, causes the computer or processor to perform the method in any possible implementation of the first aspect.

[0040] It should be noted that the computer program code can be stored in whole or in part on a storage medium, wherein the storage medium can be packaged together with the processor or packaged separately from the processor.

[0041] In a sixth aspect, a computer readable medium is provided, and the computer readable medium stores instructions, when the instructions are executed by a processor, causing the processor to implement the method in any possible implementation of the first aspect.

[0042] In a seventh aspect, a chip is provided, and the chip comprises a circuit for executing the method in any possible implementation of the first aspect.

[0043] The beneficial effects not described in the second aspect to the seventh aspect can refer to the description in the first aspect, and will not be described here again. BRIEF DESCRIPTION OF DRAWINGS

[0044] FIG. 1 is a functional schematic block diagram of an intelligent driving device according to an embodiment of the present application;

[0045] FIG. 2 is a schematic diagram of a control system architecture according to an embodiment of the present application;

[0046] FIG. 3 is a schematic diagram of an application scenario according to an embodiment of the present application;

[0047] FIG. 4 is a schematic flowchart of a control method according to an embodiment of the present application;

[0048] FIG. 5 is another schematic diagram of an application scenario according to an embodiment of the present application;

[0049] FIG. 6 is still another schematic diagram of an application scenario according to an embodiment of the present application;

[0050] FIG. 7 is yet another schematic diagram of an application scenario according to an embodiment of the present application;

[0051] FIG. 8 is a schematic diagram of a GUI according to an embodiment of the present application;

[0052] FIG. 9 is another schematic flowchart of a control method according to an embodiment of the present application;

[0053] FIG. 10 is still another schematic diagram of an application scenario according to an embodiment of the present application;

[0054] FIG. 11 is another schematic diagram of a GUI according to an embodiment of the present application;

[0055] FIG. 12 is still another schematic diagram of a GUI according to an embodiment of the present application;

[0056] FIG. 13 is yet another schematic flowchart of a control method according to an embodiment of the present application;

[0057] FIG. 14 is a schematic block diagram of a parking device according to an embodiment of the present application;

[0058] FIG. 15 is another schematic block diagram of a parking device according to an embodiment of the present application. DETAILED DESCRIPTION

[0059] The technical solutions in the embodiments of the present application will be described below with reference to the drawings.

[0060] 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. The perception system 120 can include several sensors for sensing information about the environment surrounding 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 another positioning system. 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.

[0061] The display device 130 can include any of a sound-emitting device and a display device. The sound-emitting device can include a speaker, a sound box, or the like. The display device mainly falls into two categories. The first category is a vehicle-mounted display screen. The second category is a projection display screen, such as a head up display (HUD). The vehicle-mounted display screen is a physical display screen and is an important component of a vehicle information entertainment system. The vehicle-mounted display screen can include a HMI. The head up display, also known as a head-up display system, is mainly used to display driving information such as a speed, navigation, and the like on a display device (such as a windshield) in front of a user, so as to reduce the time for the user to change the line of sight and avoid changes in the pupil caused by the change in the line of sight of the user, thereby improving the driving safety and comfort.

[0062] Optionally, the display device 130 can also include a light device for displaying light. The light device can be an atmosphere lamp or a breathing lamp composed of light emitting diode (LED) lamp beads or a lamp strip. The lamp strip can include a plurality of LED lamp beads. Alternatively, the light device can also be another type of lamp. The light device can be arranged at a position of an instrument panel, a central control screen, or the like. The light device can also be arranged around a display screen such as an instrument screen or a central control screen, or can be arranged at another position convenient for prompting information to a driver, such as a steering wheel. Alternatively, the light device can also be a device based on digital light processing (hereinafter referred to as a DLP headlamp). Through the DLP headlamp, a specific pattern can be projected onto a road surface outside the vehicle, so as to achieve the purpose of prompting other road users.

[0063] The communication system 140 of the vehicle 100 can be one or more devices integrated with at least one communication processing module, and the communication system 140 can receive and transmit electromagnetic waves through an antenna to enable the vehicle 100 to communicate with other terminal devices (such as a mobile terminal associated with the vehicle 100), a cloud server, and the like 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), or the wireless communication technology can also include wireless short-range communication technology such as Bluetooth (BT) communication technology, radio frequency identification (RFID) communication technology, and the like.

[0064] 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 a reconfigurable hardware circuit, the processor loads a configuration file to configure the hardware circuit. This 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, and some or all of the processors 151-15n can call the instructions in the memory to implement corresponding functions.

[0065] 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.

[0066] From a logical functional point of view, an 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 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.

[0067] 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 road conditions and responding 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 auto parking assist (APA), remote parking assist (RPA), and auto valet parking (AVP), etc. For APA, the driver does not need to manipulate the steering wheel, but still needs to manipulate the accelerator and brake on the vehicle; for RPA, the driver can use a terminal (such as a mobile phone) to remotely park the vehicle 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.

[0068] In the embodiments of the present application, when the vehicle 100 has parked at the target parking position or is driving to or preparing to drive to the target parking area, the perception system 120 is configured to acquire the obstacle information around the vehicle 100, when there is a demand for opening a certain door of the vehicle 100, the computing platform 150 determines whether there is a collision risk when the door is opened according to the position of the obstacle near the door and the space required for opening the door, controls the vehicle 100 to move to a safe area when there is a collision risk when the door is opened, and controls the vehicle 100 to drive back to the target parking position when the demand for opening the door is eliminated. When there is a collision risk when the door is opened, the prompting device 130 can prompt the user of the risk.

[0069] FIG. 2 shows a schematic diagram of a system architecture required for implementing the parking method according to the embodiments of the present application, which can be used to control the vehicle 100 shown in FIG. 1, and the system includes a perception module 210, a human-machine interaction module 220, a planning control module 230, and an actuator 240. Specifically:

[0070] The perception module 210 can include one or more cameras in the perception system 120 shown in FIG. 1, or one or more radar sensors, and can also include a road side unit (RSU) in the area where the vehicle 100 is located, 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 of roads, obstacles, etc. for downstream modules (such as the human-machine interaction module 220 and the planning control module 230). For example, the perception module 210 can determine an area available for vehicle parking according to the obstacles and / or parking lines, and send information of the area available for vehicle parking to the human-machine interaction module 220. The perception module 210 can also send information of the obstacles to the planning control module 230, so that the planning control module 230 determines whether there is a case of insufficient space when a target door (such as a door with a demand for opening) is opened.

[0071] The human-machine interaction module 220 can include one or more of the prompting device 130 shown in FIG. 1, such as any of an HMI, a light device, a sound emitting device, or the human-machine interaction module can also include a sound receiving device (such as a microphone) for receiving voice instructions of the user. In some implementations, the human-machine interaction module 220 can also include an electronic device associated with the vehicle 100, through which the user can control the opening and / or closing of the door of the vehicle 100, or through which the user can also control the parking of the vehicle. The vehicle and the electronic device can communicate through the communication system shown in FIG. 1. In some implementations, the human-machine interaction module 220 can also include a car key, a button on the vehicle, a smart phone, a tablet computer, etc.

[0072] The planning control module 230 can be one or more processors in the computing platform 150 shown in FIG. 1. The planning control module 230 can plan a motion path for the vehicle from a starting position to a target position and a target pose of the vehicle at the target position, and can calculate a corresponding control amount according to the motion path and the target pose, and output the control amount to the actuator 240. When the actuator 240 executes the control amount, the vehicle is controlled to travel along the planned motion path to the target position, and the vehicle is controlled to park at the target position according to the target pose. In some possible implementations, the actuator can include a steering and braking control system in the vehicle 100.

[0073] In some implementations, in an automatic parking scenario, the human-machine interaction module 220 can display images or diagrams or icons of multiple regions available for parking of the vehicle in the environment in which the vehicle is located. The system can determine a target parking space in which the vehicle is to be parked according to an input of a user to the human-machine interaction module 220. Further, the human-machine interaction module 220 can send information of the target parking space (such as information of a position and a pose) to the planning control module 230. The planning control module 230 can preset a target door (which can be a tail door, or can also be a side door such as a front left door) of the vehicle, and determine whether a space needs to be reserved for the target door according to obstacle information around the target parking space, so as to facilitate opening of the target door. When it is determined that a space needs to be reserved for the target door, the planning control module 230 plans a path and a pose of the vehicle for parking in the target parking space according to the space that needs to be reserved, and the planning control module 230 sends information 1 to the human-machine interaction module 220, so that the human-machine interaction module 220 prompts the user that a space needed for opening of the target door has been reserved. For example, when the vehicle supports a tail door anti-collision function, it can be understood that the tail door is preset as the target door, and the vehicle can reserve a space needed for opening of the tail door during automatic parking.

[0074] In yet some implementations, in a case that the vehicle has parked in a certain area, the human-machine interaction module 220 can determine the target door to be opened in response to the operation of the user, and then send the information of the target door to the planning control module 230. The planning control module 230 determines whether the space required for opening the target door is sufficient (e.g., whether there is a collision risk) according to the information of the target door from the human-machine interaction module 220 and the information of the obstacle from the perception module 210. In a case that the space required for opening the target door is insufficient, the planning control module 230 plans a motion path of the vehicle from the current area to a safe area and a pose of the vehicle in the safe area, so that when the vehicle parks in the safe area, the distance between the target door and the obstacle is greater than or equal to the distance threshold when the target door is opened. In addition, while planning the motion path of the vehicle from the current area to the safe area and the pose of the vehicle in the safe area (i.e., before the vehicle travels to the safe area), the planning control module 230 can send information 2 to the human-machine interaction module 220, so that the human-machine interaction module 220 prompts the user that the space required for opening the target door is insufficient.

[0075] 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, the system architecture shown in FIG. 2 can further include a data processing module for processing the information collected by the perception module 210.

[0076] It should be noted that the electronic device and the vehicle associated with the embodiments of the present application can include: the account logged in the electronic device and the vehicle machine are the same; or, the accounts logged in the electronic device and the vehicle machine are different, but are accounts of authorized users of the vehicle. Illustratively, the electronic device can be a handheld device, a wearable device, a computing device, or other processing devices connected to a wireless modem, etc. For example, the electronic device can be a mobile phone, a tablet computer, a watch, a bracelet, etc.

[0077] It should be further noted that the embodiments of the present application take a five-seater vehicle (including a tailgate, a front left door, a front right door, a rear left door, and a rear right door) as an example for illustration, and in actual implementation, the control scheme provided by the present application can also be applied to vehicles with more or fewer doors, such as a truck with only a left door and a right door, a microcar with a left door, a right door, and a tailgate, etc.

[0078] As described above, in the current technical background, when there is a need to open the door after the vehicle is parked in the target parking space, if the obstacle near the door restricts the space when and / or after the door is opened, and if the driver is not careful, there is a risk of collision or scratching. After the user controls the vehicle to move forward, the vehicle is parked at a certain position based on driving experience, so as to ensure that there is no scratching during the opening of the door, or it is convenient to take out and / or other users get on and off the vehicle after the door is opened. For example, as shown in (a) of FIG. 3, when the tail door of the vehicle needs to be opened, because the distance d1 between the tail door of the vehicle and the obstacle 301 is too small, the tail door cannot be fully opened, and will be scratched with the obstacle 301. The vehicle needs to be moved forward to a distance between the tail door and the obstacle 301 greater than or equal to the distance d2 shown in (b) of FIG. 3, so as to ensure that the tail door does not scratch the obstacle 301 during opening, and / or the space after the tail door is opened is convenient for the user to take out. For another example, as shown in (c) of FIG. 3, when the left rear door of the vehicle needs to be opened, because the distance d1 between the left rear door of the vehicle and the obstacle 302 is too small, the left rear door cannot be fully opened, and will be scratched with the obstacle 302. The vehicle needs to be moved right to a distance between the left rear door and the obstacle 302 greater than or equal to the distance d4 shown in (d) of FIG. 3, so as to ensure that the left rear door does not scratch the obstacle 302 during opening, and / or the space after the left rear door is opened is convenient for the user to take out or get on and off the vehicle. For the scenario shown in FIG. 3, for the vehicle that has been parked in the target parking space, in order to be able to smoothly open the door, the driver needs to determine the position and posture of the vehicle based on driving experience. If the situation is complex, multiple operations need to be performed, and after the vehicle is moved forward or right, the space of the driving lane or other parking spaces may be occupied, so after the door is closed, the user also needs to control the vehicle to move back to the original position. It can be seen that the above process is relatively complicated and time-consuming, and the user experience is poor.

[0079] In view of this, the embodiments of the present application provide a control method, device and intelligent driving equipment. When there is a need to open the first door, the vehicle can be controlled to enter the second area according to the obstacle information at the position corresponding to the first door in the first area, and when the need to open the door is eliminated, the vehicle is controlled to enter the first area from the second area. The first area is the target parking area of the vehicle. Through the control scheme provided by the embodiments of the present application, when there is a need to open the first door, the user does not need to control the vehicle to move, and when the need to open the door is eliminated due to the closing of the door, the user does not need to control the vehicle to enter the target parking area. In the scenario where the opening of the door is blocked, the time required before opening the door and the time required to move the vehicle back to the parking space after closing the door can be saved, which helps to reduce the time required for taking out and / or getting on and off the vehicle, and improves the convenience of the user.

[0080] For the convenience of understanding the technical solutions of the present application, the control method provided by the embodiments of the present application is described in detail below in combination with FIGS. 4-13.

[0081] FIG. 4 shows a schematic flowchart of the control method provided by the embodiments of the present application, which method 400 can be executed by the vehicle 100 shown in FIG. 1 or by the system shown in FIG. 2, more specifically, by the planning control module 230. The method 400 can include:

[0082] S401, the vehicle obtains an open door instruction when parked in the area 1, the open door instruction being used to control the vehicle door 1 to open.

[0083] Exemplarily, the vehicle door 1 can be a tail door of the vehicle, or can also be a side door of the vehicle, such as one or more of the left front door, the left rear door, the right front door, and the right rear door.

[0084] Taking the vehicle door 1 as a tail door for example, the open door instruction can include any of the following: ① an instruction generated by detecting that a tail door opening button of the vehicle is pressed; ② an instruction generated by receiving information a from an electronic device associated with the vehicle, the information a being generated and / or transmitted when detecting that a user clicks a button (physical button or virtual button) on the electronic device for controlling the tail door to open; ③ an instruction generated by receiving information b from a physical key of the vehicle, the information b being generated and / or transmitted when detecting that a user presses a button on the physical key for controlling the tail door to open; ④ a voice instruction for opening the tail door detected by a radio device in the vehicle; or ⑤ an instruction generated by detecting that a virtual button displayed on the HMI in the vehicle for controlling the tail door to open is clicked.

[0085] S402, according to the distance between the obstacle 1 at the vehicle door 1 and the vehicle door 1, the vehicle is controlled to drive into the area 2.

[0086] Exemplarily, the distance between the obstacle 1 and the vehicle door 1 can be determined according to information collected by a perception device of the vehicle, for example, a signal collected by a millimeter wave radar or an ultrasonic radar at the tail of the vehicle to determine the distance between the obstacle 1 and the vehicle door 1; or the distance between the obstacle 1 and the vehicle door 1 can also be determined according to an image collected by a camera device at the tail of the vehicle. Alternatively, the distance between the obstacle 1 and the vehicle door 1 can also be determined by other means, for example, according to perception information around the vehicle collected by an RSU to determine the distance between the obstacle 1 and the vehicle door 1.

[0087] Wherein, the obstacle 1 at the vehicle door 1 can be understood as: the obstacle 1 is located on the side corresponding to the position of the vehicle door 1 in the area 1. For example, the area 1 includes a front side, a rear side, a left side, and a right side, and if the vehicle door 1 is a tail door, the obstacle 1 is located on the rear side of the area 1.

[0088] Exemplarily, when the distance between the obstacle 1 and the vehicle door 1 is too small to cause insufficient space for opening the vehicle door 1, the target position of the area 2 and the target pose of the vehicle in the area 2 are determined according to the position of the obstacle 1 and the space required for opening the vehicle door 1, and the vehicle is controlled to drive into the area 2. When the vehicle is parked in the area 2, the distance between the vehicle door 1 in the closed state and the obstacle 1 is greater than or equal to the distance threshold 1, so that when the vehicle door 1 is opened while the vehicle is parked in the area 2, the vehicle door 1 will not scratch the obstacle 1 and / or there is enough space between the opened vehicle door 1 and the obstacle 1 for the user to take out the object.

[0089] The insufficient space required for opening the vehicle door 1 in the foregoing can include that the obstacle 1 hinders the opening angle of the vehicle door 1; the vehicle door 1 will scratch the obstacle 1 during opening; or the vehicle door 1 will not scratch the obstacle 1 during opening, but the space between the opened vehicle door 1 and the obstacle 1 is insufficient for the user to take out the object and / or get on or off the vehicle.

[0090] The distance threshold 1 can be a safety distance required for opening the door, or the distance threshold 1 can be a sum of the safety distance required for opening the door and a distance required for a single person to pass. Taking the tail door as an example, in an example, the distance threshold 1 can be a calibrated value, for example, the distance threshold 1 can be one of 30 cm to 130 cm, or other values. In another example, the distance threshold 1 can be determined according to the vehicle model and / or the opening mode of the door 1, for example, the distance threshold 1 can increase with the increase of the vehicle model, when the vehicle is a sedan, the distance threshold 1 is one of 30 cm to 60 cm (without considering the distance required for a single person to pass), or 80 cm to 130 cm (considering the distance required for a single person to pass), when the vehicle is a sport utility vehicle (SUV), the distance threshold 1 is one of 60 cm to 90 cm (without considering the distance required for a single person to pass), or 110 cm to 140 cm (considering the distance required for a single person to pass). In another example, the distance threshold 1 can be determined according to the biological feature information of the vehicle user, wherein the biological feature information can include height and / or weight, the distance threshold 1 can increase with the increase of the user's height and / or weight, for example, when the user's height is below 160 cm, the distance threshold 1 can be 100 cm, when the user's height is above 180 cm, the distance threshold 1 can be 130 cm, when the user's height is between 160 cm and 180 cm, the distance threshold 1 can be one of 100 cm to 130 cm; for example, when the user's weight is below 50 kg, the distance threshold 1 can be 80 cm, when the user's weight is above 80 kg, the distance threshold 1 can be 120 cm, when the user's weight is between 50 kg and 80 kg, the distance threshold 1 can be one of 80 cm to 120 cm.

[0091] It should be further noted that the distance threshold 1 corresponding to the tail door and the distance threshold 1 corresponding to the side door can be the same, or can be different. When the door 1 is a side door, the method for determining the distance threshold 1 can refer to the above description, which will not be repeated here.

[0092] In some implementations, when there are other obstacles in region 1, such as obstacle 2, the aforementioned target position of region 2 and the target pose of the vehicle in region 2 according to the position of obstacle 1 can be refined as follows: according to the position of obstacle 1 and the position of obstacle 2, the target position of region 2 and the target pose of the vehicle in region 2 are determined, so that when the vehicle is parked in region 2, the distance between door 1 and obstacle 1 is greater than or equal to distance threshold 1, and the distance between the vehicle and obstacle 2 is greater than or equal to distance threshold 2. Distance threshold 2 can be a safety distance to prevent the vehicle from being scratched by obstacle 2, for example, distance threshold 2 can be 15 cm, or 30 cm, or other values. Alternatively, when the vehicle is parked in region 2, obstacle 2 is located at a certain door of the vehicle, and the obstacle limits the opening angle of the door, so distance threshold 2 can also be a value that allows the door to open to a certain angle, for example, distance threshold can be 30 cm, or 45 cm, or other values.

[0093] It should be noted that the aforementioned obstacle 1 (or obstacle 2) can be one obstacle, or can include multiple obstacles. The obstacles involved in the present application can be static obstacles, such as walls, columns, and other immovable objects, or in some scenarios, the obstacles involved in the present application can also be dynamic obstacles, such as pedestrians, vehicles, and other objects whose positions can change. In one scenario, the aforementioned obstacle 1 can be a vehicle, and when the vehicle parks in region 1, there are no obstacles 1 around region 1, and when there is a need to open door 1 of the vehicle (the vehicle can have been parked for a period of time), obstacle 1 (i.e., the vehicle) appears in region 1, and the vehicle needs to be controlled to drive into region 2 according to the position of obstacle 1 and the space required for opening door 1.

[0094] In some implementations, the target position and target pose can be determined from a plurality of possible positions of region 2 and positions of the vehicle in region 2 according to the time required for the vehicle to drive from region 1 to region 2 and park in region 2 with the target pose. Alternatively, the target position and target pose can also be determined from a plurality of possible positions of region 2 and positions of the vehicle in region 2 according to the path of the vehicle driving from region 1 to region 2 and parking in region 2 with the target pose. For example, the position of region 2 and the position of the vehicle in region 2 corresponding to path 1 can be determined as the target position and target pose, where path 1 can be the path from region 1 to region 2 that has the shortest straight-line distance between region 1 and region 2; or path 1 can also be the path from region 1 to region 2 that requires the shortest time for the vehicle to drive from region 1 to region 2 and park in region 2.

[0095] S403, when the opening demand of door 1 is eliminated, the vehicle is controlled to drive back to region 1.

[0096] Exemplarily, the opening requirement elimination of the vehicle door 1 can include that the vehicle door 1 is closed after being opened, and the opening requirement elimination of the vehicle door 1 can be determined when it is detected that the vehicle door 1 is closed.

[0097] It should be noted that the pose of the vehicle when driving from the region 2 back to the region 1 can be the same as the pose of the vehicle parked in the region 1 in S401, or can also be different.

[0098] In some implementations, when the opening requirement elimination of the vehicle door 1 is detected, the vehicle can also be controlled not to drive back to the region 1 in specific scenarios. For example, when the vehicle is parked in the region 1, the user has a demand to use the vehicle (i.e., needs to drive the vehicle subsequently), and after the vehicle drives into the region 2, the vehicle door 1 is opened, and the user gets on the vehicle, when it is detected that the user has a driving intention (such as the user starting the vehicle within 3 minutes or other time duration after getting on the vehicle), the vehicle can be controlled not to drive back to the region 1 (such as staying in the region 2). Alternatively, after the user gets on the vehicle, the user can be prompted by the HMI whether the vehicle needs to be controlled to drive back to the region 1, and when the user selects not to drive back to the region 1, the vehicle is controlled not to drive back to the region 1 (such as staying in the region 2).

[0099] In order to facilitate understanding of the method 400, the application scenarios thereof are exemplarily illustrated in combination with FIGS. 5 to 8.

[0100] FIG. 5 shows a schematic diagram of an application scenario of the present application. As shown in (a) of FIG. 5, when the vehicle is located at a pose A in a region a, the distance d1 between the tail door of the vehicle and the obstacle 501 is less than the required safety distance for opening the tail door, and then the vehicle can determine a region a' as shown in (b) of FIG. 5 according to the position of the obstacle 501 and the space required for opening the tail door. When the vehicle is parked in the region a' at a pose B, the distance d2 between the tail door of the vehicle and the obstacle 501 is greater than or equal to the distance threshold 1. After the opening requirement elimination of the tail door of the vehicle, the vehicle is controlled to drive back to the region a. As shown in (c) of FIG. 5, when the vehicle drives back to the region a and is parked at a pose C, the distance d3 between the vehicle and the obstacle 501 is greater than or equal to the safety distance (such as 15 cm, or 20 cm, or other numerical value) for parking the vehicle. It should be noted that FIG. 5 takes the pose A of the vehicle in the region a before driving into the region a' and the pose C of the vehicle in the region a after driving out of the region a' as examples for illustration, and in actual implementation, the two can also be the same.

[0101] It can be understood that the region a can be regarded as an example of the aforementioned region 1, the region a' can be regarded as an example of the aforementioned region 2, the tail door can be regarded as an example of the vehicle door 1, and the obstacle 501 can be regarded as an example of the aforementioned obstacle 1.

[0102] For the scenario shown in FIG. 5, if the vehicle head is adjacent to the road available area, after the tailgate opening demand is eliminated (e.g., the user opens the tailgate to take out the object and closes the tailgate), if the vehicle continues to park in the area a' for a long time, the vehicle may affect the traffic efficiency of other road traffic participants in the road available area, and may also scratch the vehicle during the traffic of other road traffic participants. Therefore, after the tailgate opening demand is eliminated, the vehicle is controlled to drive back to the area a, which can reduce the influence on the normal traffic of the road on the one hand, and can reduce the risk of the vehicle being scratched by other road participants on the other hand. Alternatively, the vehicle head is adjacent to other parking areas, after the tailgate opening demand is eliminated, if the vehicle stops in the area a', the vehicle may occupy the available parking space of other vehicles, and there is also a risk of being scratched by other vehicles. Therefore, after the tailgate opening demand is eliminated, the vehicle is controlled to drive back to the area a, which can reduce the occupation of other parking areas on the one hand, and can reduce the risk of the vehicle being scratched by other vehicles on the other hand.

[0103] FIG. 6 shows another kind of schematic diagram of the application scenario. As shown in (a) of FIG. 6, the vehicle 601 parks in the area a1 in the pose a', and the vehicle 602 exists on the left side of the vehicle 601. Since the vehicle 602 parks too close to the vehicle 601, the left door of the vehicle 601 is limited to open (e.g., cannot be opened to the size for the user to get on or off the vehicle). When the left front door has an opening demand, the vehicle can determine the area a1' as shown in (b) of FIG. 6 according to the position of the vehicle 602 and the space required for opening the left front door. When the vehicle parks in the area a1' and parks in the pose b' in the area a1', the distance between the left front door of the vehicle and the vehicle 602 is greater than or equal to the distance threshold 1. Alternatively, when the left front door has an opening demand, the vehicle can determine the area a1" as shown in (c) of FIG. 6 according to the position of the vehicle 602 and the space required for opening the left front door. When the vehicle parks in the area a1" and parks in the pose b" in the area a1", the distance between the left front door of the vehicle and the vehicle 602 is greater than or equal to the distance threshold 1. As shown in (d) of FIG. 6, after the opening demand of the left front door of the vehicle is eliminated, the vehicle is controlled to drive back to the area a1 and the pose c'. It should be noted that FIG. 6 takes the pose c' after the vehicle drives back to the area a1 and the pose a' before the vehicle drives out of the area a1 as an example for illustration, and in actual implementation, the two poses can also be different.

[0104] It can be understood that the area a1 can be regarded as an example of the aforementioned area 1, the area a1' and the area a1" can be regarded as some examples of the aforementioned area 2, the left front door can be regarded as an example of the door 1, and the vehicle 602 can be regarded as an example of the aforementioned obstacle 1.

[0105] In actual implementation, different positions of the region 2 and / or different poses of the vehicle in the region 2 can be determined according to different positions of the obstacle 1 in the region 1. Or when there is also an obstacle 2 in the region 1, different positions of the region 2 and / or different poses of the vehicle in the region 2 can be determined in combination with the position of the obstacle 2.

[0106] For the scenario shown in FIG. 6, if the vehicle head is adjacent to the road feasible region, and the left front door opening requirement is eliminated (for example, the user opens the left front door to take out the object and closes the left front door), if the vehicle continues to park in the region a1' for a long time, the vehicle can affect the traffic efficiency of other road traffic participants in the road feasible region, and can also scratch the vehicle in the process of the traffic of other road traffic participants. Therefore, after the left front door opening requirement is eliminated, the vehicle is controlled to drive back to the region a1, which can reduce the influence on the normal traffic of the road, and also can reduce the risk of the vehicle being scratched by other road participants. Or, if the vehicle stops in the region a1'', the vehicle will occupy the available parking space of other vehicles (for example, will affect the opening of the door of the vehicle 603), and also has the risk of being scratched by the vehicle 603. Therefore, after the left front door opening requirement is eliminated, the vehicle is controlled to drive back to the region a1, which not only can reduce the influence on the vehicle 603, but also can reduce the risk of the vehicle being scratched by the vehicle 603.

[0107] FIG. 7 (a) to (i) shows the changes of the target position of the region 2 and the target pose of the vehicle in the region 2 when the obstacle is located at different positions, and FIG. 7 takes the door 1 as the tail door of the vehicle, and takes the region 1 including the front side, the rear side, the left side and the right side as an example for illustration. More specifically:

[0108] As shown in FIG. 7 (a), when the obstacle 1 is located at the rear side of the region 1, the region 2 can partially overlap the region 1, the region 2 is more forward than the region 1 (the "forward" can be understood as the direction relative to the vehicle head), and the pose characteristics of the vehicle in the region 2 are that the center axis of the vehicle when parked in the region 2 is parallel to the center axis of the vehicle when parked in the region 1. When the vehicle drives from the region 1 into the region 2, the driving path of the vehicle is to drive forward.

[0109] As shown in FIG. 7 (b), when the obstacle 1 is located at the right side of the rear side of the region 1, the region 2 can partially overlap the region 1, the region 2 is more forward than the region 1, and the pose characteristics of the vehicle in the region 2 are that the center axis of the vehicle when parked in the region 2 is deviated to the right side of the region 1 compared with the center axis of the vehicle when parked in the region 1. When the vehicle drives from the region 1 into the region 2, the driving path of the vehicle is to drive to the right front.

[0110] As shown in (c) of FIG. 7, when the obstacle 1 is located at a position on the rear side of the region 1 and to the left, the region 2 can partially overlap the region 1, the region 2 is located more forward than the region 1, and the vehicle in the region 2 has a pose feature in which the center axis of the vehicle when parked in the region 2 is biased to the left of the region 1 compared to the center axis of the vehicle when parked in the region 1. When the vehicle travels from the region 1 to the region 2, the travel path of the vehicle is to travel to the left front.

[0111] As shown in (d) of FIG. 7, when the obstacle 1 is located at a position on the rear side of the region 1 and the obstacle 2 is located at a position on the left side of the region 1, the region 2 can partially overlap the region 1, the region 2 is located more forward than the region 1, and the vehicle in the region 2 has a pose feature in which the center axis of the vehicle when parked in the region 2 is parallel to the center axis of the vehicle when parked in the region 1. When the vehicle travels from the region 1 to the region 2, the travel path of the vehicle is to travel to the front.

[0112] As shown in (e) of FIG. 7, when the obstacle 1 is located at a position on the rear side of the region 1 and to the right, and the obstacle 2 is located at a position on the left side of the region 1, the region 2 can partially overlap the region 1, the region 2 is located more forward than the region 1, and the vehicle in the region 2 has a pose feature in which the center axis of the vehicle when parked in the region 2 is parallel to the center axis of the vehicle when parked in the region 1. When the vehicle travels from the region 1 to the region 2, the travel path of the vehicle is to travel to the front.

[0113] As shown in (f) of FIG. 7, when the obstacle 1 is located at a position on the rear side of the region 1 and to the left, and the obstacle 2 is located at a position on the left side of the region 1, the region 2 can partially overlap the region 1, the region 2 is located more forward than the region 1, and the vehicle in the region 2 has a pose feature in which the center axis of the vehicle when parked in the region 2 is parallel to the center axis of the vehicle when parked in the region 1. When the vehicle travels from the region 1 to the region 2, the travel path of the vehicle is to travel to the front.

[0114] As shown in (g) of FIG. 7, when the obstacle 1 is located at a position on the rear side of the region 1 and to the right, and the obstacle 2 is located at a position on the left side of the region 1, the region 2 can partially overlap the region 1, the region 2 is located more forward than the region 1, and the vehicle in the region 2 has a pose feature in which the center axis of the vehicle when parked in the region 2 is biased to the right of the region 1 compared to the center axis of the vehicle when parked in the region 1. When the vehicle travels from the region 1 to the region 2, the travel path of the vehicle is to travel to the right front.

[0115] As shown in (h) of FIG. 7, when the obstacle 1 is located at a position right of the rear side of the region 1, and the obstacle 2 is located at a position left of the front side of the region 1, the region 2 can partially overlap the region 1, the region 2 is more forward than the region 1, and the vehicle has a pose feature in the region 2 that the center axis of the vehicle when parked in the region 2 is more rightward than the center axis of the vehicle when parked in the region 1. When the vehicle drives from the region 1 to the region 2, the driving path of the vehicle is to drive rightward and forward.

[0116] As shown in (i) of FIG. 7, when the obstacle 1 is located at a position right of the rear side of the region 1, and the obstacle 2 is located at a position left of the front side of the region 1, the region 2 can partially overlap the region 1, the region 2 is more forward than the region 1, and the vehicle has a pose feature in the region 2 that the center axis of the vehicle when parked in the region 2 is more rightward than the center axis of the vehicle when parked in the region 1. When the vehicle drives from the region 1 to the region 2, the driving path of the vehicle is to drive rightward and forward.

[0117] It should be noted that the various cases shown in FIG. 7 are not exhaustive of the application scenarios applicable to the present application, and in addition to the scenarios shown in FIG. 7, other obstacles can exist at other positions of the region 1, for example, as shown in (e) of FIG. 7, an obstacle 3 exists at the right side of the region 1, or as shown in (h) of FIG. 7, an obstacle 4 exists at the left side of the region 1. For scenarios with more obstacles, the vehicle can plan a target position of the region 2 and a target pose of the vehicle in the region 2 according to the positions of the obstacles, so that after the vehicle drives into the region 2, the space required for opening of the door 1 is not limited by the obstacles.

[0118] It should be further noted that the front, rear, left, and right sides of the region 1 involved in FIG. 7 can be understood as being determined relative to the direction of the vehicle head. In addition, for the positions of the obstacles shown in FIG. 7, when the door 1 is other than a tailgate, the target position of the region 2 and the target pose of the vehicle in the region 2 are different from those shown in FIG. 7.

[0119] In some implementations, when the opening door request of multiple doors at different sides of the vehicle is detected, and obstacles exist at the multiple doors, the target position of the region 2 and the target pose of the vehicle in the region 2 can be determined according to the positions of the obstacles at the multiple doors. For example, the multiple doors at different sides of the vehicle include a tailgate and a left front door of the vehicle, that is, when both the tailgate and the left front door of the vehicle need to be opened, for the obstacle positions shown in (d) of FIG. 7 (the obstacle 1 is located at the tailgate of the vehicle, and the obstacle 2 is located at the left front door of the vehicle), the target position of the region 2 and the target pose of the vehicle in the region 2 determined can be as shown in (b) of FIG. 7.

[0120] When the user triggers the door opening instruction by the electronic device outside the vehicle, and the space required for opening the door 1 is insufficient due to the obstruction of the obstacle 1, the electronic device can prompt the user. FIG. 8 shows a schematic diagram of a graphic user interface (GUI) provided by an embodiment of the present application, taking a mobile phone as an example of the electronic device. As shown in (a) of FIG. 8, the mobile phone can display a vehicle control interface of a vehicle owner application (APP), which includes virtual buttons for controlling the opening of the left front door, the right front door, the left rear door, the right rear door, and the trunk (i.e., the tailgate), as well as buttons for controlling the unlocking of the vehicle, controlling the locking of the vehicle, controlling the closing of all windows, and finding the vehicle. When detecting that the user clicks the button 801, the vehicle determines that there is a demand for opening the tailgate. When it is determined that the space required for opening the tailgate is insufficient, the mobile phone displays a pop-up window to prompt the user, for example, as shown in (b) of FIG. 8, the pop-up window 802 prompts the user that the space required for opening the tailgate is insufficient by “Tailgate opening has collision risk”. And before the vehicle is driven into the area 2, the pop-up window 802 can also prompt the user to keep away from the vehicle by “The vehicle will move soon, please be careful to avoid”, so as to prevent the user from obstructing the movement of the vehicle. During the driving of the vehicle to the area 2, the pop-up window 803 shown in (c) of FIG. 8 can be used to prompt the user about the dynamic of the vehicle by “Moving away from the obstacle”. During the closing of the tailgate and the driving of the vehicle from the area 2 back to the area 1, the pop-up window 805 shown in (d) of FIG. 8 can be used to prompt the user about the dynamic of the vehicle by “Tailgate has been closed, driving back to the original position”. In addition, the mobile phone can also display the path and dynamic of the vehicle during driving, as shown by 804 in (c) of FIG. 8 and 806 in (d) of FIG. 8. In some implementations, after the vehicle drives back to the area 1 and parks, the vehicle automatically locks and powers off, and then the vehicle owner APP interface of the mobile phone can also display the prompt information “The vehicle has driven back to the original position and has been locked and powered off”. The vehicle owner APP involved in the embodiments of the present application can include an application program for providing vehicle control for the legal authorized user of the vehicle, and / or an application program for providing the legal authorized user of the vehicle with services such as vehicle status information.

[0121] When the user triggers the door opening instruction in the vehicle through the HMI or the physical button in the vehicle, and the space required for opening the door 1 is insufficient due to the obstruction of the obstacle 1, the user can be prompted through the HMI. For example, when the user triggers the door opening instruction of the left front door in the vehicle, and the space required for opening the left front door is insufficient, the interface shown in (e) of FIG. 8 can be displayed through the HMI, which includes the situation of the obstacle around the area where the vehicle 807 is located, and the prompt information 808 "! There is a collision risk in opening the left front door". During the process of driving the vehicle to the area 2, the HMI can display the prompt information "Leaving the obstacle"; after the vehicle drives into the area 2 and parks in the area 2, the HMI can display the prompt information "The collision risk of the left front door has been eliminated. Please get off the vehicle". After the user gets off the vehicle and closes the left front door, the vehicle can drive back to the area 1, and during the process of driving the vehicle back to the area 1, the HMI can also display the prompt information "The tail door has been closed. Driving back to the original position"; when the vehicle drives back to the area 1 and parks, the HMI can display the prompt information "The vehicle has returned to the original position".

[0122] In some implementations, the vehicle or the electronic device can also play relevant prompts through a sound device such as a loudspeaker. In an example, the voice "There is a collision risk in opening the door 1. The vehicle will be moved soon" is played through the sound device such as a loudspeaker. In another example, when the door is opened and / or closed, the vehicle can play a specific sound effect through the sound device such as a loudspeaker to prompt the user that the door will be opened or closed soon. For example, after the vehicle successfully drives to the area 2 and automatically opens the door 1, the user is prompted through two "drip" sounds after the door 1 is successfully opened or closed, and the user is prompted through a sharp long sound if the door is abnormally opened or closed. In still other implementations, the light device can also be used for prompting. In an example, when it is determined that the space required for opening the door 1 is insufficient and the vehicle will be moved soon, the DLP headlamp of the vehicle can be controlled to project a light on the ground indicating the shape of the driving direction of the vehicle (such as a single arrow) to prompt the driving path of the vehicle outside. In another example, during the process of driving the vehicle to the area 2 or the area 1, if an obstacle temporarily appears to block the continuous driving of the vehicle, the vehicle stops to avoid the obstacle, and a exclamation mark is displayed on the ground, or during the process of driving the vehicle to the area 2 or the area 1, if a system failure or abnormality occurs, the user can be prompted through the light device by projecting a double-flash arrow shape on the ground.

[0123] FIG. 9 shows a schematic flowchart of a control method provided by the embodiments of the present application. The method 900 can be performed by the vehicle 100 shown in FIG. 1, or can also be performed by the system shown in FIG. 2, more specifically, can be performed by the planning control module 230. The method 900 can include:

[0124] S901, when detecting the opening requirement of the door 2 in the case that the region 3 is determined as the target parking region, controlling the vehicle to drive into the region 4 according to the position of the obstacle at the door 2 and the space required for opening the door 2.

[0125] Exemplarily, the door 2 can be a tail door of the vehicle.

[0126] Detecting the opening requirement of the door 2 can include: determining the opening requirement according to the information of opening the door 2 set by the user in advance; or, the system sets the space required for opening the door 2 for the door 2 in advance in the parking process, and the user does not change the setting.

[0127] The obstacle at the door 2 can be understood as: after the vehicle parks in the region 3, the obstacle is located on the side corresponding to the position of the door 2 in the region 3.

[0128] Exemplarily, the vehicle can determine the position of the region 4 and the pose of the vehicle in the region 4 according to the position of the obstacle and the space required for opening the door 2, and control the vehicle to drive into the region 4. When the vehicle parks in the region 4, the distance between the door 2 and the obstacle at the door 2 is greater than or equal to the distance threshold 3. The detailed method of determining the distance threshold 3 can be referred to the description in S402, which will not be repeated here.

[0129] In actual implementation, when the door 2 and the door 1 are the same door, the distance threshold 3 and the distance threshold 1 can be the same value.

[0130] S902, when the opening requirement of the door 2 is eliminated, controlling the vehicle to drive from the region 4 into the region 3.

[0131] Exemplarily, the elimination of the opening requirement of the door 2 can include that the door 2 is opened and then closed, and when detecting that the door 2 is closed, it can be determined that the opening requirement of the door 2 is eliminated. Or, the elimination of the opening requirement of the door 2 can also include that the user modifies the setting of reserving the space required for opening the door 2 for the door 2 in the parking process during the parking process of the vehicle, that is, when the vehicle parks in the region 3, there is no need to reserve the space required for opening the door 2 for the door 2.

[0132] In some implementations, in addition to the obstacle at the door 2, the region 3 also has other obstacles, and then the position of the obstacle at the door 2, the position of the other obstacles and the space required for opening the door 2 can be used to determine the position of the region 4 and the pose of the vehicle in the region 4.

[0133] In order to facilitate understanding of the method 900, the application scenarios thereof are exemplarily illustrated in combination with FIGS. 10-12.

[0134] FIG. 10 shows a schematic diagram of a scenario of parking a vehicle. As shown in (a) of FIG. 10, a vehicle 1001 targets a region b as a target parking region, if the vehicle 1001 parks into the region b in a manner that the tail of the vehicle enters the region b first, the tail of the vehicle is close to a wall 1002. Then, during the process of parking the vehicle 1001 into the region b, when the opening demand of the tailgate is detected, the position of the region b’ and the pose 1 of the vehicle 1001 in the region b’ can be determined according to the position of the wall 1002 and the space required for opening the tailgate, and the vehicle 1001 is controlled to park into the region b’ first. As shown in (b) of FIG. 10, when the vehicle 1001 parks into the region b’ and stops at the pose 1, the distance D1 between the tailgate in the closed state and the wall 1002 is greater than or equal to the distance threshold 3. When the opening demand of the tailgate of the vehicle 1001 is eliminated, the vehicle 1001 can be controlled to park into the region b, and when the vehicle 1001 stops at the pose 2 in the region b, the distance D2 between the tailgate in the closed state and the wall 1002 can be greater than or equal to a safety distance that ensures that the vehicle 1001 will not be scratched by the wall 1002.

[0135] It can be understood that the tailgate of the vehicle 1001 in FIG. 10 can be regarded as an example of the aforementioned vehicle door 2, the wall 1001 can be regarded as an example of the aforementioned obstacle at the vehicle door 2, the region b can be regarded as an example of the aforementioned region 3, and the region b’ can be regarded as an example of the aforementioned region 4.

[0136] In some implementations, the method 900 can be executed when the tailgate anti-collision function is enabled during the automatic parking process of the vehicle, taking the tailgate as an example of the vehicle door 2. For example, before the vehicle enters the automatic parking process or starts the automatic parking process, the HMI can prompt the user whether the space required for opening the tailgate needs to be reserved. As shown in (a) of FIG. 11, the GUI displayed by the HMI during the automatic parking process, wherein the region 1102 is the target parking region of the selected vehicle 1101, and before starting the automatic parking process, the vehicle can prompt the user that the tailgate anti-collision function is enabled during the automatic parking process through the pop-up window 1103 “Tailgate opening space reserved”. In addition, the pop-up window 1103 also includes a button 1104 and a button 1105, wherein the button 1104 is used to close the tailgate anti-collision function during the automatic parking process, and the button 1105 is used to confirm the opening of the tailgate anti-collision function during the automatic parking process. If the user directly ignores the prompt of the pop-up window 1103 and clicks the “Start parking” button 1106, the vehicle can determine that the tailgate has an opening demand according to the operation of clicking the button 1106; or the vehicle detects that the user clicks the button 1105, and then determines that the tailgate has an opening demand. Further, when the vehicle determines that the tailgate has an opening demand, the method 900 can be executed. In addition, the user can also click the button 1104, and when the operation of clicking the button 1104 is detected, the vehicle is directly controlled to park into the target region without reserving the space required for opening the tailgate.

[0137] In yet some implementations, when the tailgate anti-collision function of the vehicle is not enabled, the HMI can prompt the user about the function and ask whether the user wants to enable the function, for example, as shown in (b) of FIG. 11, a pop-up window can be displayed to ask the user “whether to enable the tailgate anti-collision function”, and when it is detected that the user clicks the “confirm to enable” button, the method 900 can be executed during the automatic parking process of the vehicle; or, when it is detected that the user clicks the “confirm to enable” button, before the vehicle is in the automatic parking process or starts the automatic parking process, the GUI shown in (a) of FIG. 11 can be used to prompt the user whether the space required for opening the tailgate needs to be reserved, and then when the user selects to reserve the space for opening the tailgate, the method 900 is executed.

[0138] In still some implementations, in combination with the method 900, still taking the tailgate 2 as an example, when the tailgate anti-collision function is enabled during the automatic parking process of the vehicle, and the user controls the automatic parking process through the mobile phone, before the automatic parking starts or during the parking process, the mobile phone can be used to prompt the user whether the space required for opening the tailgate needs to be reserved through the parking interface of the mobile phone. For example, as shown in (a) of FIG. 12, during the process of controlling the vehicle to drive to the target parking area, the mobile phone can be used to control the parking interface to display a pop-up window 1201, which includes the parking status “driving to the parking space” and also includes a prompt information 1202 “the space for opening the tailgate has been reserved, click to cancel the reserved space”, and when no operation of the user is detected, the vehicle is controlled to park in the area 4; and when it is detected that the user clicks the position 1202, the vehicle is directly controlled to park in the area 3 (i.e. the target parking area). In addition, after the vehicle parks in the area 4 and the tailgate is opened, the vehicle can send information 3 to the mobile phone, which indicates that the tailgate has been opened, and then the mobile phone can be used to control the parking interface to display a pop-up window 1203 “the tailgate has been opened, please take the goods”, to prompt the user about the state of the tailgate. In addition, the pop-up window 1203 can also include the information “after closing the tailgate, please keep away from the vehicle, the vehicle will automatically park in the area 3”, to prompt the user that the vehicle will automatically park in the area 3 after the tailgate is closed. After the vehicle parks in the area 3, the vehicle can send information 4 to the mobile phone, which indicates that the vehicle has parked in the target parking area, and then the mobile phone can be used to control the parking interface to display a pop-up window 1204 “the parking has been completed”, to prompt the user that the vehicle has parked in the target parking area.

[0139] For the scenario shown in the method 900, when the requirement for opening the tailgate of the vehicle is eliminated, the vehicle is controlled to park in the target parking area, which can reduce the influence of the vehicle on the normal traffic of the road and / or the occupation of the vehicle to other parking areas, and also can reduce the risk of the vehicle being scratched by other road participants.

[0140] FIG. 13 shows another schematic flowchart of a control method according to an embodiment of the present application. The method 1300 can be performed by the vehicle 100 shown in FIG. 1, or can also be performed by the system shown in FIG. 2, more specifically, by the planning control module 230. The method 1300 can include the following steps.

[0141] At S1310, obstacle information is obtained, the obstacle information indicating a position of an obstacle around a first region, the first region being a parking region where the vehicle is located or a target parking region of the vehicle.

[0142] For example, the obstacle information can be collected or obtained by the aforementioned perception module 210. The first region can include the region 1 in the method 400, or can also include the region 3 in the method 900, or the first region can also be another parking region where the vehicle is located or a target parking region of the vehicle.

[0143] At S1320, in response to door opening request information, the vehicle is controlled to enter a second region when the obstacle information indicates that there is a first obstacle on a first side of the first region. The door opening request information is used to request opening of a first door of the vehicle, the first door corresponding to the first side, and a distance between the first door and the first obstacle when the vehicle is parked in the second region being greater than or equal to a first distance threshold.

[0144] The "first door corresponding to the first side" can be understood as that the obstacle on the first side will limit the opening angle or opening space of the first door.

[0145] The "distance between the first door and the first obstacle when the vehicle is parked in the second region being greater than or equal to a first distance threshold" can be understood as that the closest distance between the first door and the first obstacle is greater than or equal to the first distance threshold, or the closest distance between a middle position of the first door and the first obstacle is greater than or equal to the first distance threshold. When the first door is a tail door, the middle position of the first door can be a position where the first door intersects with a longitudinal symmetry plane of the vehicle. When the first door is a side door, the middle position of the first door can be a position where a plane where a handle of the first door is located intersects with the first door, and the plane where the handle of the first door is located is parallel to a plane where a wheel of the vehicle is located.

[0146] For example, the first door can be the door 1 in the method 400, the first obstacle can be the obstacle 1, the second region can be the region 1, and the first distance threshold can be the distance threshold 1. The first door can also be the door 2 in the method 900, the first obstacle can be an obstacle at the door 2, the second region can be the region 3, and the first distance threshold can be the distance threshold 3.

[0147] Exemplarily, when the first door is a tailgate, the first side of the first region can be a side corresponding to the tailgate, for example, the first side of the first region can be a position on the rear side of the vehicle, or can also be a position on the left side of the rear side of the vehicle, or can also be a position on the right side of the rear side of the vehicle. When the first door is a side door, the first side of the first region can be a side corresponding to the side door, for example, if the first door is a left front door, the first side of the first region can be a position on the left side of the vehicle and opposite to the left front door; if the first door is a left rear door, the first side of the first region can be a position on the left side of the vehicle and opposite to the left rear door.

[0148] In some implementations, the door opening request information includes any one of the following: information generated when it is detected that the opening button at the first door is pressed; first information from an electronic device associated with the vehicle, the first information being generated and / or transmitted when it is detected that a user clicks a button on the electronic device for controlling the first door to open; second information from a physical key of the vehicle, the second information being generated and / or transmitted when it is detected that a user presses a button on the physical key for controlling the first door to open; voice information for opening the first door detected by the vehicle; or information generated when it is detected that a virtual button displayed on a human-machine interface (HMI) in the vehicle for controlling the first door to open is clicked. Exemplarily, the door opening request information can include the door opening instruction in method 400; or the door opening request information can also include information for setting a scheduled opening of the first door by the user.

[0149] The space required when the first door is opened can be a safety distance required when the first door is opened; or the space required when the first door is opened can also be a sum of the safety distance required when the first door is opened and a distance required for a single person to pass between the first obstacle and the opened first door.

[0150] In some implementations, after the vehicle enters the first region from the second region, the vehicle is parked in the first region in the first pose, the vehicle is controlled to enter the second region, including: when the door opening request information is acquired while the vehicle is parked in the first region in the second pose, determining a first position of the second region and a third pose of the vehicle in the second region according to the position of the first obstacle and the space required when the first door is opened; and controlling the vehicle to enter the second region from the first region and park in the first position in the third pose. Exemplarily, the first position can be the geometric center of the second region, and when the vehicle is parked in the first position in the third pose, the geometric center line of the vehicle can coincide with the first position, and the geometric center line of the vehicle refers to the intersection line of the longitudinal center plane of the vehicle body and the horizontal plane passing through the front and rear axles.

[0151] Exemplarily, the door opening instruction can be the door opening instruction in S401, taking the first region as region a in FIG. 5 for example, the second region can be region a' in FIG. 5, the second pose can be pose A, the third pose can be pose B, and the first position can be the geometric center of region a'. Taking the first region as region a1 in FIG. 6 for example, the second pose can be pose a', the second region can be region a1' in FIG. 6, the third pose can be pose b', and the first position can be the geometric center of region a1'. Alternatively, the second region can be region a1" in FIG. 6, the third pose can be pose b", and the first position can be the geometric center of region a1".

[0152] In some implementations, after the vehicle enters the first region from the second region and parks in the first region at the first pose, when the obstacle information indicates that the second obstacle exists on the second side of the first region, the vehicle is controlled to enter the second region, including: when the vehicle parks in the first region at the second pose and obtains the door opening request information, determining the second position of the second region and the fourth pose of the vehicle in the second region according to the position of the first obstacle, the position of the second obstacle, and the space required for opening the first door; controlling the vehicle to enter the second region from the first region and park at the second position at the fourth pose; wherein when the vehicle parks at the second position at the fourth pose, the distance between the vehicle and the second obstacle is greater than or equal to the second distance threshold.

[0153] In some implementations, after the vehicle enters the first region from the second region and parks in the first region at the first pose, when the obstacle information indicates that the second obstacle exists on the second side of the first region, the vehicle is controlled to enter the second region, including: when the vehicle parks in the first region at the second pose and obtains the door opening request information, determining the second position of the second region and the fourth pose of the vehicle in the second region according to the position of the first obstacle, the position of the second obstacle, and the space required for opening the first door; controlling the vehicle to enter the second region from the first region and park at the second position at the fourth pose; wherein when the vehicle parks at the second position at the fourth pose, the distance between the vehicle and the second obstacle is greater than or equal to the second distance threshold.

[0154] Exemplarily, the door opening instruction can be the door opening instruction in S401, the second obstacle can be obstacle 2 in the method 400, taking the first region as region 1 in FIG. 7 for example, the second pose can be the pose of the vehicle in region 1 shown in FIG. 7, the second region can be region 2 in FIG. 7, the second position can be the geometric center of region 2, and the fourth pose can be the pose of the vehicle in region 2 shown in FIG. 7. The second distance threshold can be distance threshold 2 in the method 400.

[0155] It should be noted that the first obstacle (or the second obstacle) in the embodiments of the present application can be one obstacle, or can also include multiple obstacles, and the one or more obstacles can include static obstacles or dynamic obstacles. In addition, in addition to the first obstacle and the second obstacle, there can be other one or more obstacles on the other side of the first region.

[0156] S1330, when the opening demand of the first door is eliminated, controlling the vehicle to enter the first region from the second region.

[0157] Exemplarily, the opening requirement elimination of the first door can include any one of: the first door is closed after being opened in the second area; or the user modifies (e.g., cancels) the setting of reserving the opening required space for the first door during parking. Exemplarily, for the latter case, it is determined that the user cancels the reservation of the opening required space for the first door during parking after detecting that the user clicks the button 1104 shown in FIG. 11.

[0158] In actual implementation, the first pose and the second pose can be the same or can be different. The first pose can be the pose C in FIG. 5, or can be the pose c' in FIG. 6, or can be another pose.

[0159] In some implementations, the method 1300 further includes: determining the space required for opening the first door according to biometric information of a user of the vehicle; the biometric information includes height and / or weight of the user.

[0160] Exemplarily, the method of obtaining the biometric information of the user, and the method of determining the space required for opening the first door according to the biometric information of the user of the vehicle can refer to the description in S402, which will not be repeated here.

[0161] In some implementations, the method 1300 further includes: when the vehicle is parked in the first area to obtain the door opening request information, and the distance between the first door and the first obstacle is less than the first distance threshold, controlling a prompt device to prompt first information, the first information being used to prompt that the space required for opening the first door is insufficient.

[0162] Exemplarily, the prompt device can include one or more of a vehicle-mounted display screen, a sound emitting device of the vehicle, and a light device of the vehicle.

[0163] In some implementations, the first information includes at least one of: text information, audio information, or light information. Exemplarily, the first information can include the prompt information 808 shown in (e) of FIG. 8; or the first information can also include the voice or special sound effect played by the sound emitting device as described in the foregoing embodiments; or the first information can also include the light projected by the DLP headlamp to the ground for indication.

[0164] In some implementations, the method 1300 further includes: sending second information to an electronic device associated with the vehicle, the second information indicating that the space required for opening the first door is insufficient. Exemplarily, the second information can include the information 2 in the foregoing embodiments. Further, the electronic device can display relevant information for prompting, for example, taking the electronic device as a mobile phone as an example, the electronic device can display the pop-up window 802 and / or the pop-up window 803 shown in FIG. 8 to prompt the user.

[0165] In some implementations, the first door is a tailgate of the vehicle. In some other implementations, the first door can also be a side door of the vehicle, such as the left front door, the right front door, the left rear door, or the right rear door of the vehicle when the vehicle is a five-seat small car.

[0166] The control method provided by the embodiments of the present application can control the vehicle to move according to the space required for opening the first door when the first door has an opening requirement, and the vehicle can drive into the target parking area by itself when the opening requirement of the door is eliminated due to reasons such as door closing. In the above process, the user does not need to control the vehicle to move. In the scenario where the door opening is blocked, the time required before opening the door and the time required for moving the vehicle back to the parking space after closing the door can be saved, which helps to reduce the time required for taking out the goods and / or getting on and off the vehicle, and improves the convenience of the user.

[0167] It should be noted that the above scenarios mainly take the vertical parking space as an example for description, and in actual implementation, the vehicle has been in the parking area or the target parking area of the vehicle can also be a diagonal parking space or a side parking space.

[0168] 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.

[0169] The control method provided by the embodiments of the present application is described in detail above in combination with FIGS. 1 to 13. The device provided by the embodiments of the present application will be described in detail below in combination with FIGS. 14 and 15. 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, and will not be described here again for brevity.

[0170] FIG. 14 shows a schematic block diagram of the control device 2000 provided by the embodiments of the present application, which can include units for performing the methods shown in FIGS. 4, 9, and 13. Moreover, each unit in the device 2000 is used to implement the corresponding flow of the method embodiments described above. 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.

[0171] 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 method embodiments.

[0172] It should be understood that the specific process of each unit performing the corresponding steps described above has been described in detail in the method embodiments described above, and for the sake of brevity, will not be repeated here.

[0173] It should also be understood that the apparatus 2000 herein is embodied in the form of functional units. The term "module" or "unit" herein can refer to an application-specific ASIC, an electronic circuit, a processor (for example, a shared processor, a dedicated processor, or a group of processors, etc.) and a memory for executing one or more software or firmware programs, a combination of logic circuitry and / or other suitable components that support the described functions.

[0174] The apparatus 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, can be replaced by a processor, for performing the processing operations related in each method embodiment.

[0175] 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 described above can be arranged in the planning control module 230. Exemplarily, the operations performed by the acquisition unit 2010 and the processing unit 2020 described above can be performed by one processor, or can also be performed by different processors. In a specific implementation process, the one or more processors described above can be the processor arranged in the vehicle 100 shown in FIG. 1; or the apparatus 2000 described above can be a chip arranged in the vehicle 100.

[0176] In a specific implementation process, each unit in the above apparatus can be integrated together or can also be independently implemented. In one implementation, these units are integrated together to be implemented in the form of a system on a chip (SoC).

[0177] FIG. 15 is another schematic block diagram of a control apparatus provided by an embodiment of the present application. The control apparatus 2100 shown in FIG. 15 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 method in each of the embodiments described above. Optionally, the memory 2130 can be coupled to the processor 2110 through an interface, or can be integrated with the processor 2110.

[0178] It should be noted that the transceiver 2120 can include, but is not limited to, a transceiver device such as an input / output interface to enable communication between the device 2100 and other devices or communication networks.

[0179] The memory 2130 can be a volatile memory and / or a non-volatile memory. The non-volatile 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 an external cache. As an example and not a limitation, the RAM includes a variety of forms, such as 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).

[0180] The transceiver 2120 uses a transceiver device such as, but not limited to, a transceiver to enable communication between the device 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above embodiments.

[0181] The embodiments of the present application also provide an intelligent driving device, which includes the control device 2000 or the control device 2100 in the above embodiments.

[0182] 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.

[0183] The embodiments of the present application also provide a computer program product, which includes computer program codes, and when the computer program codes are run on a computer, the computer is caused to implement the method in the above embodiments of the present application.

[0184] The embodiments of the present application also provide a computer readable storage medium, which stores computer instructions, and when the computer instructions are run on a computer, the computer is caused to implement the method in the above embodiments of the present application.

[0185] The embodiments of the present application also provide a chip, which includes a circuit for executing the method in the above embodiments of the present application.

[0186] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0187] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" herein 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 can mean that A exists alone, A and B exist together, 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 the like means any combination of the items, including any combination of single item or multiple items. For example, at least one of a, b, or c can mean a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0188] The prefix words such as "first", "second" are used in the embodiments of the present application only for the purpose of distinguishing different described objects, and have no limitation to the position, order, priority, quantity or content of the described objects. The use of the prefix words such as ordinal numbers in the embodiments of the present application has no limitation to the described objects, and the statement of the described objects should refer to the description in the claims or embodiments, and should not be construed as superfluous limitation.

[0189] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, and the division of the units is only a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0190] In various embodiments of the present application, the terms and / or descriptions between various 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.

[0191] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they 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 of the present application.

[0192] In addition, each functional unit in various 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.

[0193] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any skilled person in the art can easily think of changes or replacements within the technical range 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 control method characterized by, The method comprises: obtaining obstacle information, the obstacle information indicating a position of an obstacle around a first region, the first region being a parking region where the vehicle is located or a target parking region of the vehicle; in response to opening request information, controlling the vehicle to enter a second region when the obstacle information indicates that a first obstacle exists on a first side of the first region; wherein the opening request information is used to request opening of a first door of the vehicle, the first door corresponding to the first side, and a distance between the first door and the first obstacle being greater than or equal to a first distance threshold when the vehicle is parked in the second region; controlling the vehicle to enter the first region from the second region when the opening requirement of the first door is eliminated.

2. The method of claim 1, wherein, The vehicle parks in the first region in a first pose after entering the first region from the second region, and the controlling the vehicle to enter the second region comprises: when the vehicle parks in the first region in a second pose and obtains the door opening request information, determining a first position of the second region and a third pose of the vehicle in the second region according to the position of the first obstacle and a space required for opening the first door; controlling the vehicle to enter the second region from the first region and park in the first position in the third pose.

3. The method of claim 1, wherein, The vehicle parks in the first region in a first pose after entering the first region from the second region, and the controlling the vehicle to enter the second region comprises: when the vehicle parks in the first region in a second pose and obtains the door opening request information, determining a second position of the second region and a fourth pose of the vehicle in the second region according to the position of the first obstacle, the position of the second obstacle and the space required for opening the first door; controlling the vehicle to enter the second region from the first region and park in the second position in the fourth pose; wherein the distance between the vehicle and the second obstacle is greater than or equal to a second distance threshold when the vehicle parks in the second position in the fourth pose.

4. The method according to any one of claims 1 to 3, characterized in that, The method further comprises: determining the space required for opening the first door according to biological feature information of a user of the vehicle; The biological feature information comprises the height and / or weight of the user.

5. The method according to any one of claims 1 to 4, characterized in that, The method further comprises: when the vehicle parks in the first region and obtains the door opening request information, and the distance between the first door and the first obstacle is less than the first distance threshold, controlling a prompt device of the vehicle to prompt first information, the first information being used to prompt that the space required for opening the first door is insufficient.

6. The method of claim 5, wherein, The first information comprises at least one of the following: text information, audio information or light information.

7. The method according to claim 5 or 6, characterized in that, The method further comprises: sending second information to an electronic device associated with the vehicle, the second information indicating that the space required for opening the first door is insufficient.

8. The method according to any one of claims 1 to 7, characterized in that, The first door is a tailgate of the vehicle.

9. The method according to any one of claims 1 to 8, characterized in that, The opening request information comprises any one of the following: information detected when a button for opening the first door is pressed on the first door; first information from an electronic device associated with the vehicle, the first information being generated and / or transmitted when a user clicks a button for controlling the first door to open on the electronic device; second information from a physical key of the vehicle, the second information being generated and / or transmitted when a user presses a button for controlling the first door to open on the physical key; voice information for opening the first door detected by the vehicle; or information generated when a virtual button for controlling the first door to open displayed on a human-machine interface (HMI) in the vehicle is clicked.

10. A control device characterized by comprising: Comprise: an acquisition unit configured to acquire obstacle information, the obstacle information indicating a position of an obstacle around a first region, the first region being a parking region where the vehicle is located or a target parking region of the vehicle; a processing unit configured to, in response to opening request information, control the vehicle to enter a second region when the obstacle information indicates that a first obstacle exists on a first side of the first region; wherein the opening request information is used to request to open a first door of the vehicle, the first door corresponding to the first side, and a distance between the first door and the first obstacle is greater than or equal to a first distance threshold when the vehicle is parked in the second region; the processing unit is further configured to, when the opening requirement of the first door is eliminated, control the vehicle to enter the first region from the second region.

11. The apparatus of claim 10, wherein, After the vehicle enters the first region from the second region, the vehicle is parked in the first region with a first pose, and the processing unit is configured to: when the vehicle is parked in the first region with a second pose and the opening request information is acquired, determine a first position of the second region and a third pose of the vehicle in the second region according to the position of the first obstacle and a space required for opening the first door; control the vehicle to enter the second region from the first region and be parked in the first position with the third pose.

12. The apparatus of claim 10, wherein, After the vehicle enters the first region from the second region, the vehicle is parked in the first region with a first pose, and when the obstacle information indicates that a second obstacle exists on a second side of the first region, the processing unit is configured to: when the vehicle is parked in the first region with a second pose and the opening request information is acquired, determine a second position of the second region and a fourth pose of the vehicle in the second region according to the position of the first obstacle, the position of the second obstacle and the space required for opening the first door; control the vehicle to enter the second region from the first region and be parked in the second position with the fourth pose; wherein when the vehicle is parked in the second position with the fourth pose, a distance between the vehicle and the second obstacle is greater than or equal to a second distance threshold.

13. The apparatus of any one of claims 10-12, wherein, the processing unit is further configured to: determine the space required for opening the first door according to biometric information of a user of the vehicle; The biometric information includes height and / or weight of the user.

14. The apparatus of any one of claims 10-13, wherein, The processing unit is further configured to: When the vehicle is parked in the first area and the distance between the first door and the first obstacle is less than the first distance threshold, the processing unit is configured to control a prompting device of the vehicle to output first information, the first information indicating that the first door needs more space to open.

15. The apparatus of claim 14, wherein, The first information includes at least one of the following: text information, audio information, or light information.

16. The apparatus of claim 14 or 15, wherein, The processing unit is further configured to: The processing unit is further configured to control the electronic device associated with the vehicle to output second information, the second information indicating that the first door needs more space to open.

17. The apparatus of any one of claims 10-16, wherein, The first door is a tailgate of the vehicle.

18. The apparatus of any one of claims 10-17, wherein, The opening request information includes any of the following: Information generated when an opening button on the first door is detected to be pressed; First information from an electronic device associated with the vehicle, the first information being generated and / or transmitted when a button on the electronic device for controlling the first door to open is detected to be clicked by a user; Second information from a physical key of the vehicle, the second information being generated and / or transmitted when a button on the physical key for controlling the first door to open is detected to be pressed by a user; Voice information for opening the first door detected by the vehicle; Or Information generated when a virtual button for controlling the first door to open displayed on a human-machine interface (HMI) in the vehicle is detected to be clicked.

19. A control device characterized by comprising: The apparatus comprises: A processor configured to execute a computer program stored in a memory to cause the apparatus to perform the method of any one of claims 1 to 9.

20. The apparatus of claim 19, wherein, The apparatus further comprises the memory. 21.An intelligent driving device, characterized in that, The apparatus comprises any one of claims 10 to 20.

22. A computer-readable storage medium, characterized in that, An instruction stored thereon, the instruction being executed by a processor to implement the method of any one of claims 1 to 9.

23. 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 9.

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

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