Parking method and related apparatus

Abstract

Provided are a parking method and a related apparatus. The method comprises: receiving a parking instruction; and locking a first wheel of a vehicle, controlling at least one of the remaining wheels of the vehicle to rotate, and controlling at least one of the remaining wheels of the vehicle to steer.

Description

Parking method and related device

[0001] This application claims priority to Chinese Patent Application No. 202410914208.8, filed on July 5, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of vehicle control, and in particular, to a parking method and related device. BACKGROUND

[0003] With the continuous growth of the number of vehicles, the parking problem in urban communities, especially in old communities, is becoming increasingly serious. With the increase in the size of vehicles, the problem of parking difficulty caused by small parking spaces is further exacerbated. SUMMARY

[0004] The present disclosure provides a parking method and related device. By locking the first wheel of the vehicle, at least one of the rotation or steering of at least one of the other wheels of the vehicle is controlled, which can increase the turning radius of the vehicle, reduce the number of adjustments of the vehicle during parking, and improve the parking efficiency.

[0005] In a first aspect, a parking method is provided, the method comprising:

[0006] receiving a parking instruction;

[0007] locking a first wheel of a vehicle, controlling at least one of the rotation of the remaining wheels of the vehicle, and controlling at least one of the steering of the remaining wheels of the vehicle.

[0008] In the above method, by locking the first wheel of the vehicle, at least one of the rotation of the other wheels and at least one of the steering of the other wheels is controlled, which can increase the turning radius of the vehicle and improve the turning sensitivity of the vehicle. In the case of facing complex working conditions such as narrow roads or broken roads, where the parking space is small, the vehicle can reduce the time of parking and improve the efficiency of parking by controlling the locking, rotation or steering of the wheels. Since the solution in the related art does not control the rotation or steering of the wheels during parking, the turning radius of the vehicle in the related art is greater than that of the vehicle in some embodiments of the present disclosure. The vehicle in the related art needs to adjust the posture multiple times to park in a small parking space. Some embodiments of the present disclosure increase the turning radius to reduce the number of times the vehicle adjusts the posture, thereby improving the parking efficiency and the driving experience of the user.

[0009] In some embodiments, the first wheel is a front wheel, and at least one of the remaining wheels of the vehicle for rotation is a rear wheel.

[0010] In the above method, according to the structure of the vehicle, when the first wheel is a front wheel and at least one of the remaining wheels of the vehicle is a rear wheel for rotation, the vehicle requires less driving force to rotate with the first wheel as the center.

[0011] In some embodiments, the first wheel is a front wheel and at least one of the remaining wheels of the vehicle is a rear wheel for steering.

[0012] In the above method, according to the structure of the vehicle, when the first wheel is a front wheel and at least one of the remaining wheels of the vehicle is a rear wheel for steering, the vehicle requires less driving force to rotate with the first wheel as the center.

[0013] In some embodiments, the rear wheels include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to steer in a first direction, and the other of the first rear wheel and the second rear wheel is used to steer in a second direction, the first direction and the second direction being opposite.

[0014] In some embodiments, the first rear wheel and the second rear wheel after steering form a spread shape, and the opening direction of the spread shape is the direction in which the front of the vehicle is located.

[0015] In the above method, the vehicle controls the first rear wheel and the second rear wheel to steer in opposite directions. This can make it easier for the vehicle to rotate with a single front wheel as the center, ensuring the feasibility of the vehicle rotating to park.

[0016] In some embodiments, the rear wheels include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to rotate in a third direction, and the other of the first rear wheel and the second rear wheel is used to rotate in a fourth direction, the third direction and the fourth direction being opposite.

[0017] In some embodiments, when the vehicle rotates with the first wheel as the center, the first rear wheel and the first front wheel rotate in the same direction, the first rear wheel and the second rear wheel rotate in opposite directions, the first front wheel is another front wheel of the vehicle other than the first wheel, and the first rear wheel and the first front wheel are on the same side of the vehicle.

[0018] In some embodiments, when the vehicle rotates clockwise with the first wheel as the center, the first rear wheel and the first front wheel are used to rotate in the direction in which the front of the vehicle is located, and the second rear wheel rotates in the direction in which the rear of the vehicle is located.

[0019] In the method, since the circular arc path is a circular arc with the single front wheel as the center, according to the force balance principle, the first rear wheel and the second rear wheel need to be controlled to rotate reversely to realize the clockwise rotation or the counterclockwise rotation of the vehicle on the premise that the front wheel as the center is not moved.

[0020] In some embodiments, the first wheel, the wheel for rotation, and the wheel for steering are used to realize a circular arc path in a parking path, the parking path is a path for indicating the vehicle to drive into a parking-in position from a current position, and the circular arc path is a circular arc with the first wheel as the center.

[0021] In the method, the parking path includes a circular arc with the single front wheel as the center, which means that the vehicle can rotate the tail with the single front wheel as the center, which is equivalent to that the vehicle can rotate in place during parking. Compared with the parking scheme in the related art, in which the vehicle needs to drive forward, backward, left, and right to adjust the posture, some embodiments of the present disclosure can change the posture of the vehicle in place through the circular arc path. Therefore, even if the vehicle parks in a narrow road or a broken road with a small parking space, the vehicle can complete parking through the in-place posture adjustment. The parking space is broken, and the automatic parking capability is enhanced.

[0022] In some embodiments, the parking path includes the circular arc path and a curve path, and the curve path is an arc line with a curvature center on an extension line of a rear axle of the vehicle.

[0023] The circular arc path is determined based on the parking-in position;

[0024] The curve path is determined according to the circular arc path and pose information of the vehicle, and the pose information is used to represent the pose of the vehicle at the current position.

[0025] In the method, since the vehicle needs to rotate the vehicle body from outside the parking-in position (for example, a parking space) to inside the parking-in position (for example, a parking space) according to the circular arc path, the circular arc path is related to the information of the parking-in position (for example, a parking space). The circular arc path determined by the vehicle according to the parking-in position (for example, a parking space) meets the actual working condition, and the safety and accuracy of the vehicle parking are ensured.

[0026] In some embodiments, after the parking instruction is received, the method further includes:

[0027] During the parking of the vehicle based on the parking path, the position information of an obstacle is acquired; and at least one of the following is performed:

[0028] The vehicle is controlled to stop according to the position information of the obstacle; or

[0029] An updated parking path is determined according to the position information of the obstacle and the parking position, and parking is performed based on the updated parking path.

[0030] In the above method, there can be other obstacles during the parking of the vehicle, and the vehicle can perform at least one of the following: the vehicle stops by acquiring position information of the obstacle, or the parking path is re-planned based on the position information of the obstacle. This enables the vehicle to avoid the obstacle and improves the safety during the parking of the vehicle.

[0031] In some embodiments, after the receiving the parking instruction, the method further comprises:

[0032] acquiring actual pose information of the vehicle;

[0033] In a case where the actual pose information deviates from preset pose information, determining a target torque of a wheel for rotation and a target steering angle of a wheel for steering according to the deviation, the preset pose information being determined according to the parking path;

[0034] controlling the wheel for rotation according to the target torque, and controlling the wheel for steering according to the target steering angle.

[0035] In the above method, in a case where the pose of the vehicle is different from the preset pose, the vehicle can adjust the pose of the vehicle by adjusting the torque of the wheel for rotation and adjusting the steering angle of the wheel for steering, so that the vehicle can park according to the preset parking path, and the accuracy and safety of parking are improved.

[0036] In a second aspect, a parking device is provided, and the device comprises:

[0037] a communication unit configured to receive a parking instruction;

[0038] a processing unit configured to lock a first wheel of the vehicle, control at least one rotation of the remaining wheels of the vehicle, and control at least one steering of the remaining wheels of the vehicle.

[0039] In some embodiments, the first wheel is a front wheel, and at least one wheel for rotation among the remaining wheels of the vehicle is a rear wheel.

[0040] In some embodiments, the first wheel is a front wheel, and at least one wheel for steering among the remaining wheels of the vehicle is a rear wheel.

[0041] In some embodiments, the rear wheels include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to steer in a first direction, and the other of the first rear wheel and the second rear wheel is used to steer in a second direction, the first direction and the second direction being opposite.

[0042] In some embodiments, the first rear wheel and the second rear wheel after steering form a splay shape, an opening direction of the splay shape being a direction in which a front of the vehicle is located.

[0043] In some embodiments, the rear wheels include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to rotate in a third direction, and the other of the first rear wheel and the second rear wheel is used to rotate in a fourth direction, the third direction and the fourth direction being opposite.

[0044] In some embodiments, when the vehicle rotates around the first wheel as a center, the first rear wheel and a first front wheel rotate in the same direction, the first rear wheel and the second rear wheel rotate in opposite directions, the first front wheel is another front wheel of the vehicle except the first wheel, and the first rear wheel and the first front wheel are on the same side of the vehicle.

[0045] In some embodiments, when the vehicle rotates clockwise around the first wheel as a center, the first rear wheel and the first front wheel are used to rotate in a direction in which a front of the vehicle is located, and the second rear wheel rotates in a direction in which a rear of the vehicle is located.

[0046] In some embodiments, the first wheel, the wheel used for rotation, and the wheel used for steering are used to implement a circular arc path in a parking path, the parking path being a path used to indicate that the vehicle drives into a parking-in position from a current position, and the circular arc path being a circular arc with a center at the first wheel.

[0047] In some embodiments, the parking path includes the circular arc path and a curve path, the curve path being an arc line with a curvature center on an extension line of a rear axle of the vehicle.

[0048] The circular arc path is determined based on the parking-in position;

[0049] The curve path is determined according to the circular arc path and pose information of the vehicle, the pose information being used to represent a pose of the vehicle at the current position.

[0050] In some embodiments, the processing unit, after receiving the parking instruction, is further configured to:

[0051] In a process in which the vehicle parks based on the parking path, the position information of the obstacle is acquired by the communication unit; and at least one of:

[0052] The vehicle is controlled to stop according to the position information of the obstacle; or,

[0053] An updated parking path is determined according to the position information of the obstacle and the parking-in position, and the vehicle parks based on the updated parking path.

[0054] In some embodiments, the processing unit, after receiving the parking instruction, is further configured to:

[0055] The actual pose information of the vehicle is acquired by the communication unit;

[0056] In a case where the actual pose information deviates from preset pose information, the target torque of the wheel for rotation and the target steering angle of the wheel for steering are determined according to the deviation, the preset pose information being determined according to the parking path;

[0057] The wheel for rotation is controlled according to the target torque, and the wheel for steering is controlled according to the target steering angle.

[0058] In a third aspect, an electronic device is provided, which includes a processor and a memory; the processor is coupled with the memory, the memory is configured to store a computer program, and the processor is configured to invoke and run the computer program to enable the electronic device to perform the method described in any one of the preceding first aspect.

[0059] In some embodiments, the electronic device further includes a communication interface configured to receive and / or send data, and / or the communication interface is configured to provide input and / or output for the processor.

[0060] It should be noted that the above embodiments are described by taking a processor (or general-purpose processor) that invokes computer instructions to perform the method as an example. In the implementation process, the processor can also be a special-purpose processor, and the computer instructions have been preloaded in the processor. In some embodiments, the processor can include both special-purpose processors and general-purpose processors.

[0061] In some embodiments, the processor and the memory can also be integrated into one device, i.e., the processor and the memory can also be integrated together.

[0062] In a fourth aspect, a vehicle is provided, which includes a first motor, a second motor, a third motor, and an electronic device as described in the third aspect.

[0063] In some embodiments, the first motor is configured to drive a front wheel of the vehicle to rotate;

[0064] the second motor is configured to drive a first rear wheel of the vehicle to rotate;

[0065] the third motor is configured to drive a second rear wheel of the vehicle to rotate.

[0066] In some embodiments, the second motor is configured to drive the first rear wheel to rotate in a third direction, the third motor is configured to drive the second rear wheel to rotate in a fourth direction, and the third direction and the fourth direction are opposite.

[0067] In some embodiments, when the vehicle rotates around a first wheel as a center, a direction in which the second motor drives the first rear wheel to rotate is the same as a direction in which the first motor drives a first front wheel to rotate, the direction in which the second motor drives the first rear wheel to rotate is opposite to a direction in which the third motor drives the second rear wheel to rotate, the first front wheel is another front wheel of the vehicle except the first wheel, and the first rear wheel and the first front wheel are on the same side of the vehicle.

[0068] In some embodiments, when the vehicle rotates clockwise around the first wheel as a center, the first motor controls a direction in which the first front wheel rotates to be a direction in which a head of the vehicle is located, the second motor controls a direction in which the first rear wheel rotates to be the direction in which the head of the vehicle is located, and the third motor controls a direction in which the second rear wheel rotates to be a direction in which a tail of the vehicle is located.

[0069] In a fifth aspect, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. When the computer program is run on a computer or a processor, the method described in any one of the preceding first aspect is implemented.

[0070] In a sixth aspect, a computer program product is provided, and the computer program product includes computer instructions. When the computer instructions are run on the vehicle described in the fourth aspect, the vehicle implements the method described in any one of the preceding first aspect.

[0071] The technical solutions provided in the second aspect to the sixth aspect of the disclosure have the beneficial effects of the technical solutions of the first aspect, which will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0072] The drawings needed in the following embodiment description will be briefly introduced.

[0073] FIG. 1 is a schematic diagram of an architecture of a vehicle according to some embodiments;

[0074] FIG. 2 is a flowchart of a parking method according to some embodiments;

[0075] FIG. 3 is a schematic diagram of a circular arc path according to some embodiments;

[0076] FIG. 4 is a schematic diagram of driving along a curved path according to some embodiments;

[0077] FIG. 5 is a schematic diagram of driving along a circular arc path according to some embodiments;

[0078] FIG. 6 is a schematic diagram of a parking path according to some embodiments;

[0079] FIG. 7 is a flowchart of a rotating parking method according to some embodiments;

[0080] FIG. 8 is a block diagram of a parking device according to some embodiments;

[0081] FIG. 9 is a block diagram of an electronic device according to some embodiments;

[0082] FIG. 10 is a block diagram of a vehicle according to some embodiments. DETAILED DESCRIPTION

[0083] Some embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0084] The terms "first", "second", "third", and "fourth" and the like in the description and in the claims of the present disclosure and the accompanying drawings are used to distinguish between similar objects, and are not necessarily used to describe a particular sequential order. Also, the terms "comprises", "comprising", "includes", "including", "has", "having" and the like are intended to cover a non-exclusive inclusion, such that processes, methods, articles, or apparatuses that comprise, include, have, or the like a series of steps or units are not limited to only those steps or units that are listed, but can also include other steps or units not expressly listed or inherent to such processes, methods, articles, or apparatuses.

[0085] In order to facilitate understanding of the embodiments of the present disclosure, the technical problems to be solved by the present disclosure are analyzed and proposed as follows.

[0086] In the process of parking a vehicle, the vehicle is usually parked in a target position by controlling the steering of the front wheels of the vehicle. Therefore, there needs to be sufficient space near the target position for the vehicle to park in the target position. However, in special road conditions such as a dead-end road or a narrow road, the space available for parking is small, and the vehicle is limited by the turning radius, so it may need to adjust the pose multiple times before it can be parked. Even in automatic parking of a vehicle, since most vehicles only rely on the rotation of the front wheels, the turning radius of the vehicle is small. Therefore, in the face of complex road conditions, the automatic parking is difficult due to the limitation of the turning radius of the vehicle, and the parking time is long and the parking experience is poor.

[0087] Current automatic parking systems of vehicles are mostly based on traditional vehicle architectures, i.e., the turning of the vehicle is controlled by the rotation of the front wheels, all wheels are simultaneously driven by outputting a certain torque by at least one of the generator or the motor, etc. Therefore, the adjustable range of the vehicle posture is limited, and when facing a small parking space, the vehicle needs to adjust the posture multiple times before parking.

[0088] In the scheme of expanding the adjustable range of the vehicle posture by controlling the rear wheel turning, although the turning radius of the vehicle can be increased by the rear wheel turning, so that the adjustable range of the vehicle posture is increased, the rear turning parking scheme cannot be applied in unmanned driving due to the problems of insufficient parking algorithm development capability and high engineering difficulty of rear turning parking. The user needs to adjust the posture of the vehicle step by step through the steering wheel. However, due to the addition of the rear wheel turning, the difference between the state of the vehicle itself and the conventional turning is too large, which causes the user to be unfamiliar with the turning. Therefore, the user cannot park the vehicle in the target position by adjusting the posture of the vehicle, but increases the parking difficulty of the user.

[0089] To solve the above problems, some embodiments of the present disclosure provide a parking method. After receiving a parking instruction, the vehicle can lock the first wheel, control at least one of the remaining wheels of the vehicle except the first wheel to rotate, and control at least one of the remaining wheels of the vehicle except the first wheel to turn to realize a circular arc path in the parking path. Here, the circular arc path is a circular arc traveled by the vehicle with the center of the circle at the first wheel. The vehicle can reduce the turning radius through the circular arc path, and improve the parking ability in special road conditions such as broken roads and narrow roads.

[0090] The system architecture to which some embodiments of the present disclosure are applied will be introduced below. It should be noted that the system architecture and business scenarios described in the present disclosure are for more clearly illustrating the technical solutions of the present disclosure, and do not constitute a limitation on the technical solutions provided by the present disclosure. Those skilled in the art can know that, with the evolution of the system architecture and the appearance of new business scenarios, the technical solutions provided by the present disclosure are also applicable to similar technical problems.

[0091] FIG. 1 is a schematic diagram of the architecture of a vehicle according to some embodiments. As shown in FIG. 1, the vehicle 10 includes a motor 101, a motor 102, a motor 103, a steering device 104, a steering device 105, a brake caliper 106, a brake caliper 107, a brake caliper 108, and a brake caliper 109. It should be noted that the number and mounting position of the motors, steering devices, and brake calipers in the vehicle 10 in FIG. 1 are one possible case. The number of motors, steering devices, or brake calipers can be less than or more than the number shown in FIG. 1, which is not limited here.

[0092] The vehicle 10 can be a vehicle driven by electric energy or a vehicle driven by new energy hybrid power (an automobile). In some embodiments, when the vehicle 10 is a vehicle driven by electric energy, it can be a new energy automobile, such as a pure electric vehicle, a range-extended electric vehicle, a hybrid electric vehicle, a fuel cell electric vehicle, etc. When the vehicle 10 is an automobile, it can be a sedan, a SUV, a van, a bus, or a minivan, etc.

[0093] The motor, such as the motor 101, the motor 102, and the motor 103, is usually a power source of the vehicle 10, and is a device for converting electric energy into mechanical energy. The motor is located between the wheels of the vehicle 10 or at the bottom of the chassis of the vehicle 10, and the position and arrangement of the motor can be different according to the design and layout of the vehicle 10. The vehicle 10 drives the vehicle to travel by controlling at least one of the rotation speed or the torque of the motor to generate a driving force applied to the wheels.

[0094] The motor 101 is located at the front axle of the vehicle 10, and is used to drive the left front wheel and the right front wheel to rotate, such as forward rotation or backward rotation. After the vehicle 10 determines the parking path, the vehicle 10 can apply a corresponding torque to the front wheels by the motor 101 to make the front wheels rotate based on the torque of the front wheels indicated by the parking path.

[0095] The motor 102 is located at the rear axle of the vehicle 10, and is used to drive the left rear wheel to rotate, such as forward rotation or backward rotation. After the vehicle 10 determines the parking path, the vehicle 10 can apply a corresponding torque to the left rear wheel by the motor 102 to make the left rear wheel rotate based on the torque of the left rear wheel indicated by the parking path, to realize parking.

[0096] The motor 103 is located at the rear axle of the vehicle 10, and is used to drive the right rear wheel to rotate, such as forward rotation or backward rotation. After the vehicle 10 determines the parking path, the vehicle 10 can apply a corresponding torque to the right rear wheel by the motor 103 to make the right rear wheel rotate based on the torque of the right rear wheel indicated by the parking path, to realize parking.

[0097] The steering device 104 is used to drive the left rear wheel to turn, such as left turn or right turn. After the vehicle 10 determines the parking path, the vehicle 10 can control the left rear wheel to turn to a corresponding angle by the steering device 104 based on the steering angle of the left rear wheel indicated by the parking path.

[0098] For example, the steering device 104 can control the left rear wheel to turn to any angle between 0 degree and 10 degrees to the left, and can also control the left rear wheel to turn to any angle between 0 degree and 10 degrees to the right.

[0099] The steering device 105 is used to drive the right rear wheel to rotate, for example, to rotate left or right. After the vehicle 10 determines the parking path, the vehicle 10 can control the right rear wheel to rotate to a corresponding angle by the steering device 105 based on the steering angle of the right rear wheel indicated by the parking path.

[0100] For example, the steering device 105 can control the right rear wheel to rotate left by any angle between 0 degree and 10 degrees, and can also control the right rear wheel to rotate right by any angle between 0 degree and 10 degrees.

[0101] It can be understood that the vehicle 10 can drive the front wheels to steer by the rotation of the steering wheel, so the vehicle 10 already has a set of steering device for controlling the steering of the front wheels. Some embodiments of the present disclosure can control the steering of the front wheels by the existing steering device of the vehicle 10, and no new steering device needs to be installed. In some embodiments, the vehicle 10 can control the left front wheel and the right front wheel to rotate left simultaneously by the existing steering device, and the vehicle 10 can also control the left front wheel and the right front wheel to rotate right simultaneously by the existing steering device.

[0102] The brake caliper is an important component in the vehicle braking system, which is used to apply braking force to lock, slow down or stop the rotation of the wheel. The brake caliper is usually installed around the wheel and connected to the brake disc. For example, the brake calipers 106, 107, 108 and 109 shown in FIG. 1 can control the wheels to lock, slow down or stop the rotation, respectively.

[0103] In some embodiments, when the parking path determined by the vehicle 10 contains a circular arc path, if the circular arc path is a circular arc with the left front wheel as the center, the vehicle 10 brakes the left front wheel by the brake caliper 106 to lock the left front wheel so that it cannot rotate. Then, the vehicle 10 controls the right front wheel to rotate forward by the motor 101 and controls the right front wheel to rotate in the direction indicated by the circular arc path by the steering system. The vehicle 10 controls the left rear wheel to rotate backward by the motor 102 and controls the left rear wheel to rotate left by the steering device 104. The vehicle 10 controls the right rear wheel to rotate forward by the motor 103 and controls the right rear wheel to rotate right by the steering device 105. Thus, the vehicle 10 can rotate counterclockwise along the circular arc path with the left front wheel as the center.

[0104] In some embodiments, when the parking path determined by the vehicle 10 comprises a circular arc path, if the circular arc path is a circular arc with the right front wheel as the center, the vehicle 10 brakes the right front wheel by the brake caliper 107 to lock the right front wheel from rotating. Then, the vehicle 10 controls the left front wheel to rotate forward by the motor 101 and controls the left front wheel to rotate in the direction indicated by the circular arc path by the steering system. The vehicle 10 controls the left rear wheel to rotate forward by the motor 102 and controls the left rear wheel to rotate leftward by the steering device 104. The vehicle 10 controls the right rear wheel to rotate backward by the motor 103 and controls the right rear wheel to rotate rightward by the steering device 105. Thus, the vehicle 10 can rotate clockwise along the circular arc path with the right front wheel as the center.

[0105] The method of some embodiments of the present disclosure will be described in detail below.

[0106] FIG. 2 is a flowchart of a parking method according to some embodiments, which is applied to the vehicle shown in FIG. 1. As shown in FIG. 2, the parking method comprises but is not limited to step S201 and step S202.

[0107] Step S201, receiving a parking instruction.

[0108] In some embodiments, the vehicle performs the parking function after receiving the parking instruction. Here, the parking instruction can be an instruction generated by the vehicle in response to user operation, or an instruction received by the vehicle from other electronic devices.

[0109] In some embodiments, the user can control the vehicle to enter the automatic parking mode through a physical button in the vehicle, a touch control in the display screen, or a voice function. For example, the vehicle provides one or more parking positions for the user to select, and the user can select a target parking position from the one or more parking positions according to the current position of the vehicle. The vehicle plans a parking path according to the parking position selected by the user in response to the user operation.

[0110] In an implementation, before the vehicle enters the automatic parking mode, the vehicle can first determine a parking path from the current position to the parking position. Here, the parking position can be an actual parking space or an area where the vehicle can park.

[0111] In some embodiments, the vehicle can obtain environmental information of the current position and the parking position through a camera or a radar, for example, the environmental information can include but is not limited to the distance from the current position to the parking position, whether there is an obstacle between the current position and the parking position, the distance between the vehicle and the obstacle, and the like. Then, the vehicle determines a parking path from the current position to the parking position based on the environmental information.

[0112] In an implementation, the parking path comprises a curved path and a circular arc path.

[0113] In some embodiments, the curved path refers to an arc with a center of curvature on the extension line of the rear axle of the vehicle. When the wheels of the vehicle rotate in the same direction (forward or backward), the vehicle can achieve the curved path by controlling the front wheels to turn a certain angle to the left or right. The circular arc path refers to an arc with a center of a circle, for example, a trajectory obtained by rotating the vehicle with the left front wheel as the center of the circle or rotating the vehicle with the right front wheel as the center of the circle.

[0114] In an implementation, the vehicle determines a circular arc path in the parking path according to the parking-in position. Then, the vehicle determines a curved path according to the pose information of the vehicle and the circular arc path. Finally, the vehicle can determine the parking path according to the curved path and the circular arc path. Here, the parking-in path is used to indicate the path of the vehicle from the current position to the parking-in position, and the pose information is used to represent the pose of the vehicle at the current position.

[0115] In some embodiments, since the vehicle needs to rotate the vehicle body from outside the parking space to inside the parking space according to the circular arc path, the circular arc path is related to the information of the parking space. The vehicle can first determine the circular arc path according to the parking-in position (for example, the information of the parking space). Then the vehicle determines a rotation position according to the circular arc path, which can be the starting point of the circular arc path. The vehicle determines the path between the current position and the rotation position as the curved path, and then determines the parking path in combination with the curved path and the circular arc path.

[0116] In an implementation, the vehicle determines the center position and the center angle of the circular arc trajectory according to the position information of the parking space, so as to determine the circular arc path according to the center position and the center angle.

[0117] In some embodiments, since the vehicle needs to rotate the vehicle body from outside the parking space to inside the parking space based on the circular arc path, the vehicle can determine the position at which the vehicle starts to rotate and the angle at which the vehicle needs to rotate according to the position of the parking space, the length and width of the parking space, the size of the vehicle and other parameters. In some embodiments, the vehicle can represent the position at which the vehicle starts to rotate by the center position of the circular arc path, and represent the angle at which the vehicle needs to rotate by the center angle of the circular arc path. Then the circular arc path is determined according to the center position and the center angle.

[0118] In an implementation, the vehicle determines the curved path from the initial position of the vehicle to the rotation position of the circular arc path by a search algorithm based on the current pose information of the vehicle and the center position of the circular arc path.

[0119] In some embodiments, the initial position of the vehicle can be determined by the pose information of the vehicle, and the rotation position of the circular arc path can be determined by the center position of the circular arc path. After the vehicle determines the circular arc path according to the information of the parking space, the vehicle can obtain the path from the initial position to the rotation position by a search algorithm, so that the determined curved path can be more consistent with the actual working conditions.

[0120] In some embodiments, the vehicle can determine a range of the rotation position to which the vehicle can be rotated to the parking space, i.e. a range of coordinate points at which the vehicle can start to rotate with the target front wheel as the center, according to the position of the parking space, the length and width of the parking space, the size of the vehicle, and the like. For example, the vehicle can start to rotate with the left front wheel as the center from position A, and the vehicle can also start to rotate from position B and position C. Then, the range of the rotation position includes position A, position B and position C.

[0121] In addition, due to the different rotation positions, the rotation angles of the vehicle rotating into the parking space are also different. For example, the vehicle can be parked into the parking space at rotation angle A1 at position A, the vehicle can be parked into the parking space at rotation angle B1 at position B, and the vehicle can be parked into the parking space at rotation angle C1 at position C. Then, the range of the rotation angle includes angle A1, angle B1 and angle C1.

[0122] Therefore, after the vehicle determines the range of the rotation position and the range of the rotation angle of the circular arc path according to the geometric method, the vehicle can determine the path from the initial position to the rotation position according to the search algorithm. Therefore, the above-mentioned path is determined according to the search algorithm after the range of the rotation of the vehicle around the single wheel is determined according to the parking experience based on the geometric method. In this way, the efficiency of searching the path can be improved, and a better parking path can be planned.

[0123] In an implementation, the vehicle determines the radius and the center angle of the curve path according to the pose of the vehicle and the center position of the circular arc path. Then, the curve path is determined according to the radius and the center angle of the curve path.

[0124] In some embodiments, after the circular arc path is determined, the rotation position, i.e. the starting point of the circular arc path, can be determined according to the center position. Then, the vehicle plans the curve path from the initial position to the rotation position by the geometric method. For example, the vehicle determines the radius and the center angle of the curve path by the geometric method, and then the curve path can be determined according to the radius and the center angle.

[0125] In an implementation, the vehicle can determine the parking path by the geometric method.

[0126] For example, the vehicle determines a center angle of the circular arc path based on the information of the parking space by a geometric method, and then determines a start point of the circular arc path according to the center angle of the circular arc path. The vehicle determines a radius and a center angle of the curve path based on the start point of the circular arc path by the geometric method. If there is still a distance between the initial position of the vehicle and the start point of the curve path, the vehicle can add a straight line path between the initial position and the start point of the curve path to connect the initial position and the start point of the curve path. Here, the straight line path can be a straight line parallel to the parallel parking space, that is, the vehicle is in a state of being parallel to the parallel parking space at the start point of the curve path. Finally, the straight line path, the curve path and the circular arc path are sequentially connected to obtain the parking path.

[0127] In an implementation, the parking path can also be determined by a search algorithm.

[0128] For example, in the process of planning the parking path, the vehicle can introduce a circular arc curve generated by rotating around the front wheel to increase the space of path planning solution in addition to introducing RS (reeds-shepp) curve to expand nodes by the search algorithm. In this way, the rotation position in the parking path planned by the search algorithm can be an optimal position, and the parking path can be an optimal path. Here, the optimal path can be understood as a path with minimum displacement, or shortest time, or least number of gear shifts, etc.

[0129] In step S202, the first wheel of the vehicle is locked, at least one rotation of the remaining wheels of the vehicle is controlled, and at least one steering of the remaining wheels of the vehicle is controlled.

[0130] In some embodiments, the remaining wheels of the vehicle refer to the remaining wheels except the first wheel. The vehicle can lock the first wheel by a brake caliper, drive at least one of the other wheels except the first wheel to rotate by an electric motor, and control at least one of the other wheels except the first wheel to steer by a steering device. Here, controlling the rotation of the wheel can be controlling the forward rotation or the backward rotation of the wheel, and controlling the steering of the wheel can be controlling the left steering or the right steering of the wheel.

[0131] In some embodiments, when the vehicle rotates counterclockwise with the left front wheel as the center, the vehicle can lock the left front wheel and control at least one of the rotation or the steering of at least one of the other wheels except the left front wheel. For example, the vehicle controls the right rear wheel to rotate forward and controls the right rear wheel to steer right, so that the vehicle rotates counterclockwise with the left front wheel as the center.

[0132] In some embodiments, when the vehicle parks in a forward manner, taking a parallel parking space on the right side of the vehicle as an example. The vehicle can first drive the front end of the vehicle into the parallel parking space on the right side in a forward manner, at this time the rear end of the vehicle is still outside the parking space. Therefore, the vehicle needs to rotate the rear end of the vehicle into the parking space. For example, the vehicle can take any one of the front wheels as a first wheel, control at least one of the wheels other than the first wheel to rotate, and control at least one of the wheels other than the first wheel to steer. Then, the rear end of the vehicle is rotated into the parking space with the first wheel as the center, thereby completing parking.

[0133] In some embodiments, after the vehicle parks in the parking space according to the parking path, the vehicle can also exit the parking space according to the parking path. For example, the vehicle can take any one of the front wheels as a first wheel in the parking space, control at least one of the remaining wheels other than the first wheel to rotate, and control at least one of the remaining wheels other than the first wheel to steer. Then, the rear end of the vehicle is rotated outside the parking space with the first wheel as the center. Since the direction of the vehicle body at this time has a certain angle with the parallel parking space, the vehicle can directly drive out of the parking space in a reverse manner. Some embodiments of the present disclosure are used for the case where the space in front of and behind the vehicle is small, and the vehicle can drive out of the parking space in a reverse manner after rotating around the first wheel without moving forward and backward.

[0134] In an embodiment, the first wheel is a front wheel, and at least one of the remaining wheels of the vehicle used for rotation is a rear wheel.

[0135] In some embodiments, due to the structure of the vehicle, when the first wheel is a front wheel and at least one of the remaining wheels of the vehicle used for rotation is a rear wheel, the driving force required for the vehicle to rotate around the first wheel is small, and it is easy for the vehicle to steer around the first wheel. Therefore, the first wheel can be taken as a front wheel, and at least one of the remaining wheels of the vehicle used for rotation can be taken as a rear wheel.

[0136] Similarly, when the first wheel is a rear wheel and at least one of the remaining wheels of the vehicle used for rotation is a front wheel, the driving force required for the vehicle to rotate around the first wheel is small.

[0137] In an embodiment, the first wheel is a front wheel, and at least one of the remaining wheels of the vehicle used for steering is a rear wheel.

[0138] In some embodiments, due to the structure of the vehicle, when the first wheel is a front wheel and at least one of the remaining wheels of the vehicle used for steering is a rear wheel, the driving force required for the vehicle to rotate around the first wheel is small, and it is easy for the vehicle to steer around the first wheel. Therefore, the first wheel can be taken as a front wheel, and at least one of the remaining wheels of the vehicle used for steering can be taken as a rear wheel.

[0139] Similarly, when the first wheel is a rear wheel and at least one of the remaining wheels of the vehicle is a front wheel used for steering, the driving force required for the vehicle to rotate around the first wheel is smaller.

[0140] In one embodiment, the rear wheels of the vehicle include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to steer in a first direction, and the other of the first rear wheel and the second rear wheel is used to steer in a second direction, the first direction and the second direction being opposite.

[0141] In some embodiments, the steered first rear wheel and the steered second rear wheel form a spread-eagle shape, and the opening direction of the spread-eagle shape is the direction in which the front of the vehicle is located. For example, the opening direction of the spread-eagle shape is the larger of the two openings of the spread-eagle shape.

[0142] For example, taking the first rear wheel as the left rear wheel, the second rear wheel as the right rear wheel, the first direction as the left direction, and the second direction as the right direction. The vehicle controls the left rear wheel to steer to the left, and controls the right rear wheel to steer to the right. The steered left rear wheel and the steered right rear wheel assume an "outer eight" posture, i.e., the steered left rear wheel and the steered right rear wheel form a spread-eagle shape, and the opening direction of the spread-eagle shape is the direction in which the front of the vehicle is located. According to the structure of the vehicle, the above-mentioned "outer eight" posture is mainly used when the vehicle is moving forward and steering.

[0143] In some embodiments, the vehicle controls the left rear wheel to steer to the right, and controls the right rear wheel to steer to the left, so that the left rear wheel and the right rear wheel assume an "inner eight" posture, i.e., the steered left rear wheel and the steered right rear wheel form a spread-eagle shape, and the opening direction of the spread-eagle shape is the direction in which the rear of the vehicle is located. According to the structure of the vehicle, the above-mentioned "inner eight" posture is mainly used when the vehicle is reversing and steering.

[0144] In one embodiment, the rear wheels of the vehicle include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to rotate in a third direction, and the other of the first rear wheel and the second rear wheel is used to rotate in a fourth direction, the third direction and the fourth direction being opposite.

[0145] In some embodiments, since the first wheel is a front wheel, the vehicle rotates around the front wheel as the center. The vehicle can provide the vehicle with opposite direction forces by controlling the first rear wheel and the second rear wheel to rotate in opposite directions, so that the vehicle can achieve a rotation in place.

[0146] In one embodiment, when the vehicle rotates around the first wheel as the center, the first rear wheel and the first front wheel rotate in the same direction, the first rear wheel and the second rear wheel rotate in opposite directions, the first front wheel is another front wheel of the vehicle except the first wheel, and the first rear wheel and the first front wheel are on the same side of the vehicle.

[0147] In some embodiments, according to the structure of the vehicle, since the vehicle rotates around the first wheel as the center, the rotation directions of the wheels on the opposite side of the first wheel (e.g., the first front wheel and the first rear wheel) are consistent. And the rotation direction of the wheel on the same side of the first wheel (e.g., the second rear wheel) is opposite to that of the first rear wheel. The vehicle controls the rotation of the first front wheel, the first rear wheel and the second rear wheel based on the above rotation directions, which can reduce the driving force of the vehicle rotating around the first wheel.

[0148] In some embodiments, when the vehicle rotates clockwise around the first wheel as the center, the first rear wheel and the first front wheel are used to rotate towards the direction of the front of the vehicle, and the second rear wheel rotates towards the direction of the rear of the vehicle.

[0149] In an implementation, the first wheel is the first front wheel, and another front wheel other than the first wheel is the second front wheel. The vehicle locks the first front wheel, controls the second front wheel to steer in the first direction and rotate in the fourth direction, controls the first rear wheel to steer in the first direction and rotate in the third direction, and controls the second rear wheel to steer in the second direction and rotate in the fourth direction. Here, the second front wheel and the second rear wheel are on the same side of the vehicle.

[0150] In some embodiments, according to the structure of the vehicle, when the first rear wheel and the second rear wheel present an "outer eight" posture, and the second front wheel steers inwards of the vehicle, the driving force of the vehicle rotating around the first wheel as the center can be reduced. Here, the steering of the second front wheel inwards of the vehicle can be illustrated by taking the second front wheel as the left front wheel as an example: the outer side of the left front wheel is the left side, and the inner side of the left front wheel is the right side, so the steering of the left front wheel inwards is the steering to the right side.

[0151] According to the structure of the vehicle, since the vehicle rotates around the first front wheel as the center, the rotation directions of the wheels on the opposite side of the first front wheel (e.g., the second front wheel and the second rear wheel) are consistent. And the rotation direction of the wheel on the same side of the first front wheel (e.g., the first rear wheel) is opposite to that of the second rear wheel. The rotation directions of the second front wheel, the first rear wheel and the second rear wheel under the above conditions can reduce the driving force of the vehicle rotating around the first wheel.

[0152] FIG. 3 is a schematic diagram of a circular arc path according to some embodiments. As shown in FIG. 3, the first wheel is taken as the right front wheel of the vehicle as an example for illustration. The vehicle rotates clockwise with the right front wheel as the center. Therefore, the vehicle brakes the right front wheel by the brake caliper of the right front wheel, so that the right front wheel is locked and cannot rotate. Then, since the vehicle needs to rotate clockwise, the vehicle controls the left front wheel to rotate forward by the motor of the front axle, i.e., the vehicle provides the left front wheel with a driving force for forward rotation by the motor of the front axle. The vehicle controls the left rear wheel to rotate in the same direction as the left front wheel by the motor of the left rear wheel, i.e., the vehicle provides the left rear wheel with a driving force for forward rotation by the motor of the left rear wheel. The vehicle controls the right rear wheel to rotate in the opposite direction of the left front wheel by the motor of the right rear wheel, i.e., the vehicle provides the right rear wheel with a driving force for backward rotation by the motor of the right rear wheel.

[0153] It can be understood that the vehicle controls the wheels on the opposite side of the first wheel (e.g., the left front wheel and the left rear wheel in FIG. 3) to rotate in the same direction as the vehicle head, i.e., the wheels on the same side of the first wheel (e.g., the right rear wheel in FIG. 3) to rotate in the opposite direction as the vehicle tail. One or more wheels other than the first wheel can be caused to slip, so as to realize the rotation of the vehicle around the right front wheel.

[0154] As shown in FIG. 3, the above scheme controls the forward and backward rotation of the wheels by the motor to realize the rotation of the vehicle around any front wheel. In order to further reduce the difficulty of the rotation of the vehicle and improve the radius of the rotation of the vehicle, the vehicle can further control the left and right rotation of the wheels on the basis of controlling the forward and backward rotation of the wheels to realize the circular arc path.

[0155] In some embodiments, in FIG. 3, the vehicle controls the left rear wheel to rotate leftward, controls the right rear wheel to rotate rightward, and controls the left front wheel to rotate rightward by the steering device, which can reduce the difficulty of the clockwise rotation of the vehicle around the right front wheel. It can be seen that the left rear wheel and the right rear wheel form a spread-eagle shape, and the opening direction of the spread-eagle shape is the direction of the vehicle head.

[0156] It can be understood that the vehicle controls at least one wheel other than the first wheel to rotate, which can provide a driving force for the rotation of the vehicle around the first wheel. The vehicle controls at least one wheel other than the first wheel to steer, e.g., the left rear wheel in FIG. 3 rotates leftward and the right rear wheel rotates rightward, which can make the vehicle more easily rotate.

[0157] In some embodiments, the angle of the steering of the vehicle can be any value between 0 degree and 10 degrees. For example, the vehicle can control the wheels to rotate leftward by 10 degrees or control the wheels to rotate rightward by 10 degrees.

[0158] The control of the vehicle on the remaining wheels will be described below by taking the first front wheel as the first wheel as an example.

[0159] In one implementation, the vehicle controls one wheel rotation and one wheel steering in addition to the first wheel as follows:

[0160] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel rotation and steering.

[0161] In some embodiments, the vehicle locks the first front wheel, controls the first rear wheel rotation and steering.

[0162] In some embodiments, the vehicle locks the first front wheel, controls the second rear wheel rotation and steering.

[0163] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel rotation, and controls the first rear wheel steering.

[0164] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel rotation, and controls the second rear wheel steering.

[0165] In some embodiments, the vehicle locks the first front wheel, controls the first rear wheel rotation, and controls the second rear wheel steering.

[0166] In some embodiments, the vehicle locks the first front wheel, controls the first rear wheel steering, and controls the second rear wheel rotation.

[0167] In one implementation, the vehicle controls two wheels rotation and one wheel steering in addition to the first wheel as follows:

[0168] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel rotation, controls the first rear wheel rotation and steering.

[0169] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel rotation, controls the first rear wheel rotation, controls the second rear wheel steering.

[0170] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel rotation and steering, controls the first rear wheel rotation.

[0171] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel rotation, controls the second rear wheel rotation and steering.

[0172] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel rotation and steering, controls the second rear wheel rotation.

[0173] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel rotation, controls the first rear wheel steering, controls the second rear wheel rotation.

[0174] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel to steer, controls the first rear wheel to rotate, and controls the second rear wheel to rotate.

[0175] In some embodiments, the vehicle locks the first front wheel, controls the first rear wheel to rotate and steer, and controls the second rear wheel to rotate.

[0176] In some embodiments, the vehicle locks the first front wheel, controls the first rear wheel to rotate, and controls the second rear wheel to rotate and steer.

[0177] In one implementation, the vehicle controls the case where 3 wheels are rotated and 1 wheel is steered except for the first wheel as follows:

[0178] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel, the first rear wheel, and the second rear wheel to rotate, and controls the second front wheel to steer.

[0179] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel, the first rear wheel, and the second rear wheel to rotate, and controls the first rear wheel to steer.

[0180] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel, the first rear wheel, and the second rear wheel to rotate, and controls the second rear wheel to steer.

[0181] In one implementation, the vehicle controls the case where 1 wheel is rotated and 2 wheels are steered except for the first wheel as follows:

[0182] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel to steer, controls the first rear wheel to steer, and controls the second rear wheel to rotate.

[0183] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel to steer, controls the first rear wheel to steer, and controls the second rear wheel to rotate.

[0184] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel to steer, controls the first rear wheel to steer, and controls the second rear wheel to rotate.

[0185] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel to steer, controls the second rear wheel to steer, and controls the second rear wheel to rotate.

[0186] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel to steer, controls the second rear wheel to steer, and controls the second rear wheel to rotate.

[0187] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel to steer, controls the first rear wheel to rotate, and controls the second rear wheel to steer.

[0188] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel to rotate, controls the first rear wheel and the second rear wheel to steer.

[0189] In some embodiments, the vehicle locks the first front wheel, controls the first rear wheel steering and rotation, and controls the second rear wheel steering.

[0190] In some embodiments, the vehicle locks the first front wheel, controls the first rear wheel steering, and controls the second rear wheel steering and rotation.

[0191] In one implementation, the vehicle controls the rotation of 2 wheels other than the first wheel and the steering of 2 wheels as follows:

[0192] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel and the first rear wheel rotation, and controls the second front wheel and the first rear wheel steering.

[0193] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel and the first rear wheel rotation, and controls the second front wheel and the second rear wheel steering.

[0194] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel and the first rear wheel rotation, and controls the first rear wheel and the second rear wheel steering.

[0195] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel and the second rear wheel rotation, and controls the second front wheel and the first rear wheel steering.

[0196] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel and the second rear wheel rotation, and controls the second front wheel and the second rear wheel steering.

[0197] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel and the second rear wheel rotation, and controls the first rear wheel and the second rear wheel steering.

[0198] In some embodiments, the vehicle locks the first front wheel, controls the first rear wheel and the second rear wheel rotation, and controls the first front wheel and the first rear wheel steering.

[0199] In some embodiments, the vehicle locks the first front wheel, controls the first rear wheel and the second rear wheel rotation, and controls the first front wheel and the second rear wheel steering.

[0200] In some embodiments, the vehicle locks the first front wheel, controls the first rear wheel and the second rear wheel rotation, and controls the first front wheel and the second rear wheel steering.

[0201] In one implementation, the vehicle controls the rotation of 3 wheels other than the first wheel and the steering of 2 wheels as follows:

[0202] In some embodiments, the vehicle locks the first front wheel, controls the second front wheel, the first rear wheel and the second rear wheel rotation, and controls the second front wheel and the first rear wheel steering.

[0203] In some embodiments, the vehicle locks the first front wheel, controls rotation of the second front wheel, the first rear wheel and the second rear wheel, and controls steering of the second front wheel and the second rear wheel.

[0204] In some embodiments, the vehicle locks the first front wheel, controls rotation of the second front wheel, the first rear wheel and the second rear wheel, and controls steering of the first rear wheel and the second rear wheel.

[0205] In one embodiment, the vehicle controls the case that one wheel except the first wheel rotates and three wheels steer as follows:

[0206] In some embodiments, the vehicle locks the first front wheel, controls steering of the second front wheel, the first rear wheel and the second rear wheel, and controls rotation of the second front wheel.

[0207] In some embodiments, the vehicle locks the first front wheel, controls steering of the second front wheel, the first rear wheel and the second rear wheel, and controls rotation of the first rear wheel.

[0208] In some embodiments, the vehicle locks the first front wheel, controls steering of the second front wheel, the first rear wheel and the second rear wheel, and controls rotation of the second rear wheel.

[0209] In one embodiment, the vehicle controls the case that two wheels except the first wheel rotate and three wheels steer as follows:

[0210] In some embodiments, the vehicle locks the first front wheel, controls steering of the second front wheel, the first rear wheel and the second rear wheel, and controls rotation of the second front wheel and the first rear wheel.

[0211] In some embodiments, the vehicle locks the first front wheel, controls steering of the second front wheel, the first rear wheel and the second rear wheel, and controls rotation of the second front wheel and the second rear wheel.

[0212] In some embodiments, the vehicle locks the first front wheel, controls steering of the second front wheel, the first rear wheel and the second rear wheel, and controls rotation of the first rear wheel and the second rear wheel.

[0213] In one embodiment, the vehicle controls the case that three wheels except the first wheel rotate and three wheels steer as follows:

[0214] In some embodiments, the vehicle locks the first front wheel, controls rotation and steering of the second front wheel, controls rotation and steering of the first rear wheel, and controls rotation and steering of the second rear wheel.

[0215] The above describes the control of the vehicle on the locking, rotation and steering of the wheels. The following describes the parking of the vehicle by controlling the locking, rotation and steering of the wheels.

[0216] In one embodiment, during the parking of the vehicle, the rotation and steering of the wheels are controlled according to the parking path.

[0217] In some embodiments, the vehicle controls the torque of the first rear wheel and the torque of the second rear wheel by at least two electric motors respectively, so that there is a differential torque between the first rear wheel and the second rear wheel, i.e., the torque of the first rear wheel and the torque of the second rear wheel are inconsistent. The vehicle can also control the steering direction and the steering angle of the first rear wheel and the second rear wheel by the rear wheel steering device respectively. Thus, the vehicle can increase the turning radius and the turning sensitivity of the vehicle by controlling the differential torque between the first rear wheel and the second rear wheel and controlling the steering of the first rear wheel and the second rear wheel. Even in the scenario where the parking space is small, such as the narrow road parking scenario, the broken road parking scenario, etc., the vehicle can have good turning performance. Thus, the number of adjustments in the parking process can be reduced, and the parking efficiency is improved.

[0218] In an implementation, the vehicle controls the first front wheel and the second front wheel to steer in the same direction according to the curved path. The first front wheel, the second front wheel, the first rear wheel and the second rear wheel are controlled to rotate in the same direction according to the curved path, so that the vehicle can travel according to the curved path.

[0219] In some embodiments, since the curved path is a curve with a point on the extension line of the rear axle of the vehicle as the center of curvature, the curved path is determined according to the traditional Ackerman chassis model. Therefore, the vehicle can control the front wheels to steer while controlling the wheels to rotate in the same direction (forward or backward) to realize the curved path. For example, if the vehicle controls the wheels to rotate forward at the same time, and the vehicle controls the front wheels to turn left at the same time, the vehicle will travel to the left front according to the steering angle of the front wheels.

[0220] FIG. 4 is a schematic diagram of a vehicle traveling according to a curved path according to some embodiments. As shown in FIG. 4, the vehicle needs to park into a parallel parking space, and the vehicle travels from position A to position B according to the curved path. The vehicle is parallel to the parallel parking space at position A, and the vehicle's front end enters the parking space while the rear end is outside the parking space at position B. In some embodiments, the vehicle controls the front wheels to rotate forward by controlling the front axle motor to rotate forward. The vehicle controls the first rear wheel and the second rear wheel to rotate forward by controlling the two electric motors of the rear axle to rotate forward. Then, the vehicle controls the front wheels to turn right by a certain angle according to the curved path, so that the vehicle travels from position A to position B to the right front.

[0221] In an implementation, the vehicle locks the first wheel and controls at least one wheel other than the first wheel to rotate and control at least one wheel other than the first wheel to steer according to the circular arc path.

[0222] For example, the first wheel is the front wheel, and the first rear wheel and the second rear wheel are used for rotation. Since the circular arc path is a circular arc with the single front wheel (e.g., the first wheel) as the center, according to the principle of force balance, on the basis of ensuring that the first wheel as the center does not move, to realize clockwise rotation or counterclockwise rotation of the vehicle, the first rear wheel and the second rear wheel need to be controlled to rotate in opposite directions. For example, the vehicle controls the first rear wheel torque to make the first rear wheel rotate in the third direction, and controls the second rear wheel torque to make the second rear wheel rotate in the fourth direction, to realize the circular arc path. Here, the third direction and the fourth direction are opposite.

[0223] FIG. 5 is a schematic diagram of driving in a circular arc path according to some embodiments. As shown in FIG. 5, the vehicle drives from position B to position C according to the circular arc path. Here, position B of FIG. 5 corresponds to position B of FIG. 4. The vehicle rotates counterclockwise with the left front wheel as the center, so that the tail is parked into the parking space. Therefore, the vehicle brakes the left front wheel through the brake caliper of the left front wheel, so that the left front wheel is locked and cannot rotate. Then, the vehicle can control at least one wheel other than the left front wheel to rotate, and control at least one wheel other than the left front wheel to steer to rotate the tail into the parking space. For example, since the vehicle needs to rotate counterclockwise, the vehicle controls the right front wheel to rotate forward through the motor of the front axle, i.e., the vehicle provides a forward rotating driving force for the right front wheel through the motor of the front axle. The vehicle controls the right rear wheel to rotate in the same direction as the right front wheel through the motor of the right rear wheel, i.e., the vehicle provides a forward rotating driving force for the right rear wheel through the motor of the right rear wheel. The vehicle controls the left rear wheel to rotate in the opposite direction of the right front wheel through the motor of the left rear wheel, i.e., the vehicle provides a backward rotating driving force for the left rear wheel through the motor of the left rear wheel. Thus, the vehicle can rotate the tail from position B to position C.

[0224] In FIG. 5, on the basis of controlling the front and rear rotation of the wheels, the vehicle can also realize the circular arc path by controlling the left and right steering of the wheels. In some embodiments, the vehicle controls the left rear wheel to turn left, controls the right rear wheel to turn right, and controls the right front wheel to turn right through the steering device, which can reduce the difficulty of the vehicle rotating counterclockwise with the left front wheel as the center.

[0225] In some embodiments, when the parallel parking space is on the right side of the vehicle, the vehicle can first move to the rear of the parking space, and then drive the front end into the parking space according to the curved path, e.g., position B of FIG. 4. Then, rotate counterclockwise around the left front wheel according to the circular arc path, so that the tail enters the parking space and completes parking, e.g., position C of FIG. 5.

[0226] FIG. 6 is a schematic diagram of a parking path according to some embodiments. As shown in FIG. 6, straight line 1 is a straight line path, curve 2 is a curve path, and curve 3 is a circular arc path. It can be understood that if the initial position of the vehicle is at the starting point of the curve path, the parking path can not include the straight line path, i.e., the vehicle can complete parking according to the curve 2 and the curve 3. The vehicle controls the wheels to rotate forward from the position 1 to achieve the straight line 1. Then, the vehicle controls the wheels to rotate forward and controls the front wheels to turn right, and drives the vehicle head into the parking space according to the curve 2, i.e., to the position 2. The vehicle rotates counterclockwise around the left front wheel according to the curve 3 to the position 3, so that the vehicle tail enters the parking space and completes parking.

[0227] In some embodiments, when the parallel parking space is on the left side of the vehicle, the vehicle can first move to the rear of the parking space, and then drive the vehicle head into the parking space according to the curve path. Then, the vehicle rotates clockwise around the right front wheel according to the circular arc path, so that the vehicle tail enters the parking space and completes parking.

[0228] In an implementation, since the distance traveled by each wheel can be different when the vehicle rotates around a single wheel according to the circular arc path, the accuracy and stability of the rotation of the vehicle need to be controlled. Therefore, the vehicle can dynamically adjust the torque or speed of the plurality of motors through the perception information to improve the accuracy of the rotation of the vehicle.

[0229] In some embodiments, the perception information can be obtained through at least one of the intelligent driving sensors such as the camera or radar installed on the vehicle to intelligently perceive the state of the vehicle and the surrounding environment comprehensively and uninterruptedly. For example, the vehicle obtains the information such as the space available for parking and the situation of the surrounding obstacles to adjust the output of the motors. By respectively controlling the torque of the first rear wheel and the torque of the second rear wheel, the vehicle can travel more in line with the actual driving environment.

[0230] The vehicle can also obtain the driving state of the vehicle through the sensors such as the gyroscope, camera, or radar to determine whether the vehicle body is stable according to the driving state of the vehicle. Thus, the vehicle body can be made more stable by adjusting the torque of the first rear wheel and the torque of the second rear wheel.

[0231] In addition, the vehicle can calculate the road friction in real time through the parameters collected by the sensors such as the wheel speed sensor and the torque sensor. The torque or speed output of the plurality of motors is adjusted according to the change of the road friction, and the closed-loop control of the rotation of the plurality of motors is realized in combination with the intelligent driving perception and the chassis perception, so as to improve the accuracy and stability of the rotation of the vehicle.

[0232] In some embodiments, the parking method further comprises: during parking based on the parking path, the vehicle can acquire position information of the obstacle, and then at least one of the following is performed: controlling the vehicle to stop according to the position information of the obstacle; or determining an updated parking path based on the position information of the obstacle and the parking-in position, and parking based on the updated parking path.

[0233] In some embodiments, during parking based on the parking path, other obstacles can appear on the parking path, so the vehicle can acquire the position of the obstacle through the perception device. If the distance between the vehicle and the obstacle is close, the vehicle can avoid the obstacle by stopping. Alternatively, the vehicle can also re-plan the parking path based on the position of the obstacle to obtain an updated parking path. Then, the vehicle continues to park based on the updated parking path. Here, the perception device of the vehicle includes but is not limited to a camera, a radar, etc. The obstacle includes but is not limited to other vehicles, pedestrians, non-motor vehicles, etc.

[0234] In an implementation, during parking, the vehicle acquires actual pose information of the vehicle. In the case that there is a deviation between the actual pose information and the preset pose information, a target torque for a rotating wheel and a target steering angle for a steering wheel are determined according to the deviation. Then, the rotating wheel is controlled according to the target torque, and the steering wheel is controlled according to the target steering angle.

[0235] In some embodiments, the vehicle determines the preset pose information according to the parking path. Then, the vehicle detects whether there is a deviation between the actual pose information and the preset pose information in real time through a perception system. Here, the perception system includes a 360 image or a radar, etc. In the case that there is a deviation between the actual pose information and the preset pose information, the deviation of the vehicle pose is adjusted by adjusting the steering angle of the steering wheel and adjusting the torque of the rotating wheel.

[0236] The above embodiment shown in FIG. 2 includes a variety of possible schemes. In order to facilitate understanding, possible schemes among them are introduced below. It should be understood that part of the terms, logic, etc. in the scheme shown in FIG. 7 can refer to the embodiment shown in FIG. 2.

[0237] FIG. 7 is a flowchart of a rotating parking method according to some embodiments. The method includes steps S701 to S706.

[0238] S701, a user parks.

[0239] The user drives the vehicle to the rear of the parking space, and then turns the steering wheel back to normal, releases the brake and the accelerator to make the vehicle stop.

[0240] S702, a parking-in position is selected.

[0241] The vehicle receives a user-selected parking position, such as a target parking space. The user can control the vehicle to enter the automatic parking mode through a physical button in the vehicle, a touch control in the display screen, or a voice function. The vehicle provides one or more parking positions that can be selected by the user, and the user can select a target parking position from the one or more parking positions according to the current position of the vehicle. The vehicle receives the user-selected target parking position and proceeds to S703.

[0242] In S703, the vehicle determines whether the target parking position can be parked in. If yes, S705 is performed. If no, S704 is performed.

[0243] The vehicle can determine whether the target parking position can be parked in according to the current environment information. If yes, the vehicle requests the user whether to start the parking. After the user selects to start the parking, S705 is performed. If no, S704 is performed.

[0244] In S704, the vehicle automatically adjusts to an initial position that can be parked in.

[0245] The vehicle adjusts to the initial position that can be parked in according to the target parking position, i.e., the vehicle can be parked in the target parking position by the method provided by some embodiments of the disclosure.

[0246] In S705, the vehicle determines a parking path.

[0247] The vehicle determines the parking path according to the initial position and the target parking position. Here, the parking path includes a curve path and a circular arc path. The curve path refers to an arc line with the center of curvature on the extension line of the rear axle of the vehicle. In some embodiments, when the wheels of the vehicle rotate in the same direction (forward or backward), the vehicle turns the front wheels to the left or right by a certain angle to realize the curve path. The circular arc path refers to an arc with the center on the front wheel, for example, the vehicle locks the first wheel, controls at least one wheel other than the first wheel to rotate, and controls at least one wheel other than the first wheel to turn, and the trajectory realized is a circular arc.

[0248] In some embodiments, the vehicle determines the circular arc path in the parking path according to the target parking position. Then, the curve path is determined according to the initial position and the circular arc path. Finally, the vehicle can determine the parking path according to the curve path and the circular arc path.

[0249] In S706, the vehicle parks based on the parking path by locking the first wheel.

[0250] The vehicle controls the first rear wheel to rotate to the third direction by controlling the torque of the first rear wheel, and controls the second rear wheel to rotate to the third direction by controlling the torque of the second rear wheel, to realize the curve path in the parking path. Then, the vehicle locks the first wheel, controls at least one wheel other than the first wheel to rotate, and controls at least one wheel other than the first wheel to steer, to realize the circular arc path. Here, the rotation of the wheel can be controlled by adjusting the torque corresponding to the wheel. For example, the vehicle can adjust the torque corresponding to the wheel according to the yaw angle of the vehicle, so as to drive the wheel to rotate. Since the torque of the wheel is determined according to the yaw angle of the vehicle, and since the yaw angle of the vehicle is related to the lateral movement of the vehicle, the torque of the wheel is determined according to the yaw angle of the vehicle, which ensures the stability of the vehicle during parking.

[0251] In addition, on the basis of the vehicle controlling the front and rear rotation of the wheel, the vehicle controls the steering of the wheel according to the circular arc path. The difficulty of the rotation of the vehicle can be reduced, the accuracy of the rotation of the vehicle can be improved, and the "twisting the buttocks" parking of the vehicle can be realized.

[0252] When the vehicle determines the target position of parking into the vehicle through the sensing system, the vehicle ends the automatic parking mode and completes the automatic parking.

[0253] The above describes the method of some embodiments of the present disclosure in detail, and the following provides the device of some embodiments of the present disclosure.

[0254] FIG. 8 is a functional unit composition block diagram of a parking device according to some embodiments. The parking device 80 can include a communication unit 801 and a processing unit 802. The parking device 80 is used to realize the above-mentioned parking method, such as the parking method shown in FIG. 2.

[0255] It should be noted here that the division of the above-mentioned multiple units is only a logical division according to the function, and does not limit the structure of the parking device 80. In actual implementation, part of the functional modules can be subdivided into more detailed functional modules, and part of the functional modules can also be combined into one functional module.

[0256] In an embodiment, the communication unit 801 is configured to receive a parking instruction.

[0257] The processing unit 802 is configured to lock a first wheel of the vehicle, control at least one wheel other than the first wheel of the vehicle to rotate, and control at least one wheel other than the first wheel of the vehicle to steer.

[0258] In an embodiment, the first wheel is a front wheel, and the at least one wheel other than the first wheel of the vehicle for rotation is a rear wheel.

[0259] In an embodiment, the first wheel is a front wheel, and at least one of the remaining wheels of the vehicle other than the first wheel is a rear wheel.

[0260] In an embodiment, the rear wheels include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to steer in a first direction, and the other of the first rear wheel and the second rear wheel is used to steer in a second direction, the first direction and the second direction being opposite.

[0261] In an embodiment, the first rear wheel and the second rear wheel after steering form a splay, and an opening direction of the splay is a direction in which a front of the vehicle is located.

[0262] In an embodiment, the rear wheels include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to rotate in a third direction, and the other of the first rear wheel and the second rear wheel is used to rotate in a fourth direction, the third direction and the fourth direction being opposite.

[0263] In an embodiment, when the vehicle rotates around the first wheel as a center, the first rear wheel and the first front wheel rotate in the same direction, the first rear wheel and the second rear wheel rotate in opposite directions, the first front wheel is another front wheel of the vehicle other than the first wheel, and the first rear wheel and the first front wheel are located on the same side of the vehicle.

[0264] In an embodiment, when the vehicle rotates clockwise around the first wheel as a center, the first rear wheel and the first front wheel are used to rotate in a direction in which a front of the vehicle is located, and the second rear wheel is used to rotate in a direction in which a rear of the vehicle is located.

[0265] In an embodiment, the first wheel, the wheel used for rotation, and the wheel used for steering are used to implement a circular arc path in a parking path, where the parking path is a path used to indicate that the vehicle drives into a parking position from a current position, and the circular arc path is an arc with a center at the first wheel.

[0266] In an embodiment, the parking path includes the circular arc path and a curve path, and the curve path is an arc with a center of curvature on an extension line of a rear axle of the vehicle.

[0267] The circular arc path is determined based on the parking position.

[0268] The curve path is determined according to the circular arc path and pose information of the vehicle, where the pose information is used to represent a pose of the vehicle at the current position.

[0269] In an embodiment, the processing unit 802 is further configured to:

[0270] In a process in which the vehicle parks based on the parking path, the communication unit 801 acquires position information of an obstacle, and at least one of:

[0271] controlling the vehicle to stop according to the position information of the obstacle; or

[0272] determining an updated parking path according to the position information of the obstacle and the parking-in position, and parking based on the updated parking path.

[0273] In an implementation, the processing unit 802 is further configured to, after receiving the parking instruction:

[0274] obtain actual pose information of the vehicle through the communication unit 801;

[0275] in a case where the actual pose information deviates from the preset pose information, determining a target torque of the wheel for rotating and a target steering angle of the wheel for steering according to the deviation, wherein the preset pose information is determined according to the parking path.

[0276] controlling the wheel for rotating according to the target torque, and controlling the wheel for steering according to the target steering angle.

[0277] It should be noted that in some embodiments of the present disclosure, the implementation and technical effects of each unit can also be correspondingly described with reference to the description of the corresponding method embodiments shown in FIG. 2.

[0278] FIG. 9 is a block diagram of an electronic device according to some embodiments. As shown in FIG. 9, the electronic device 90 can include one or more processors 901, one or more memories 902, and one or more communication interfaces 903. These components can be connected through a bus 904 or other means, and FIG. 9 takes the connection through the bus 904 as an example.

[0279] The communication interface 903 can be used for the electronic device 90 to communicate with other communication devices (such as other electronic devices). In some embodiments, the communication interface 903 can be a wired interface.

[0280] The memory 902 can be coupled to the processor 901 via the bus 904 or input / output ports and can be integrated into the processor 901. The memory 902 is used for storing various software programs and / or sets of instructions or data. In some embodiments, the memory 902 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage or other magnetic storage devices, or any other medium capable of storing desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto. The memory 902 can include both high-speed random access memory and nonvolatile memory, such as one or more magnetic disk storage devices, flash memory devices, or other non-volatile solid-state storage devices. The memory 902 can store an operating system (hereinafter referred to as a system), such as an embedded operating system (Micro-Controller Operating System, uCOS), VxWorks, RTLinux, etc. The memory 902 can also store a network communication program that can be used to communicate with one or more additional devices, one or more user devices, and one or more terminals. The memory 902 can exist independently and be connected to the processor 901 via the bus 904. The memory 902 can also be integrated into the processor 901.

[0281] Here, the memory 902 is used to store application program codes for implementing the above solutions, and the processor 901 is used to control the execution. The processor 901 is used to execute the application program codes stored in the memory 902.

[0282] The processor 901 can be a central processing unit, a general purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array, or other programmable logic device, transistor logic, hardware component, or any combination thereof. It can implement or execute various example logical blocks, modules, and circuits described in connection with the present disclosure. The processor 901 can also be a combination of determinate functions, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and the like.

[0283] Some embodiments of the present disclosure further provide a vehicle, as shown in FIG. 10, the vehicle comprising a first motor, a second motor, a third motor, and the electronic device as shown in FIG. 9.

[0284] In an implementation, the first motor is configured to drive a first front wheel of the vehicle to rotate.

[0285] The second motor is configured to drive a first rear wheel of the vehicle to rotate.

[0286] The third motor is configured to drive a second rear wheel of the vehicle to rotate.

[0287] In an implementation, the second motor is configured to drive the first rear wheel to rotate in a third direction, the third motor is configured to drive the second rear wheel to rotate in a fourth direction, and the third direction and the fourth direction are opposite.

[0288] In an implementation, when the vehicle rotates around a first wheel, the second motor drives the first rear wheel to rotate in a same direction as the first motor drives the first front wheel to rotate, the second motor drives the first rear wheel to rotate in a direction opposite to the third motor drives the second rear wheel to rotate, the first front wheel is another front wheel of the vehicle other than the first wheel, and the first rear wheel and the first front wheel are on a same side of the vehicle.

[0289] In an implementation, when the vehicle rotates clockwise around a first wheel, the first motor controls the first front wheel to rotate in a direction of a head of the vehicle, the second motor controls the first rear wheel to rotate in the direction of the head of the vehicle, and the third motor controls the second rear wheel to rotate in a direction of a tail of the vehicle.

[0290] Some embodiments of the present disclosure further provide a computer readable storage medium, the computer readable storage medium storing instructions, when the instructions are executed on at least one processor, implement the aforementioned parking method, such as the method of FIG. 2.

[0291] Some embodiments of the present disclosure further provide a computer program product, the computer program product comprising computer instructions, when executed by a computing device, implement the aforementioned parking method, such as the method of FIG. 2.

[0292] In some embodiments of the disclosure, the word "for example," "e.g.," etc., is used to indicate one or more examples, instances, or illustrations. Any embodiment or design presented as "for example" or "like" in the disclosure should not be construed as preferable or superior to other embodiments or designs. Rather, the use of "for example" or "like" is intended to present concepts in an example manner.

[0293] The "at least one" mentioned in the embodiments of the disclosure refers to one or more, and "multiple" refers to two or more. "At least one of the following" or the like refers to any combination of the items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, and c can be single or multiple. "And / or" describes the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent: only A, only B, and A and B, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects.

[0294] In addition, unless otherwise stated, the ordinal numbers "first," "second," etc. used in some embodiments of the disclosure are used to distinguish multiple objects, and are not used to limit the order, time sequence, priority, or importance of the multiple objects. For example, the first device and the second device are only for ease of description, and do not mean that the structures, importance, etc. of the first device and the second device are different. In some embodiments, the first device and the second device can also be the same device.

[0295] In the above embodiments, the term "when" can be interpreted as meaning "if" or "after" or "in response to determining" or "in response to detecting" according to the context. The above is only an optional embodiment of the disclosure, and does not limit the disclosure. Any modification, equivalent replacement, improvement, etc. made within the concept and principles of the disclosure shall be included in the protection scope of the disclosure.

[0296] A person of ordinary skill in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by program to instruct related hardware to complete. The program can be stored in a computer readable storage medium, and the storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0297] The above merely provides the specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any skilled person in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present disclosure, and these modifications or replacements should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

A parking method, comprising: receiving a parking instruction; locking a first wheel of a vehicle, controlling at least one of the remaining wheels of the vehicle to rotate, and controlling at least one of the remaining wheels of the vehicle to steer. The method of claim 1, wherein, The first wheel is a front wheel, and the wheel used for rotation among the remaining wheels of the vehicle is a rear wheel. The method according to claim 1 or 2, wherein The first wheel is a front wheel, and the wheel used for steering among the remaining wheels of the vehicle is a rear wheel. The method of claim 3, wherein, The rear wheels include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to steer in a first direction, and the other of the first rear wheel and the second rear wheel is used to steer in a second direction, the first direction and the second direction being opposite. The method of claim 4, wherein, The first rear wheel and the second rear wheel after steering form a splay shape, and the opening direction of the splay shape is the direction in which the front of the vehicle is located. The method of claim 2, wherein, The rear wheels include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to rotate in a third direction, and the other of the first rear wheel and the second rear wheel is used to rotate in a fourth direction, the third direction and the fourth direction being opposite. The method of claim 6, wherein, When the vehicle rotates around the first wheel as a center, the rotation directions of the first rear wheel and the first front wheel are the same, the rotation directions of the first rear wheel and the second rear wheel are opposite, the first front wheel is another front wheel of the vehicle except the first wheel, and the first rear wheel and the first front wheel are on the same side of the vehicle. The method of claim 7, wherein, When the vehicle rotates clockwise around the first wheel as a center, the first rear wheel and the first front wheel are used to rotate in the direction in which the front of the vehicle is located, and the second rear wheel rotates in the direction in which the rear of the vehicle is located. The method of any one of claims 1-8, wherein, The first wheel, the wheel used for rotation, and the wheel used for steering are used to realize a circular arc path in a parking path. The parking path is a path for indicating the vehicle to drive into a parking position from a current position, and the circular arc path is a circular arc with the first wheel as a center. The method of claim 9, wherein, The parking path includes the circular arc path and a curve path, and the curve path is an arc line with a curvature center on an extension line of a rear axle of the vehicle. The circular arc path is determined based on the parking position. The curve path is determined according to the circular arc path and pose information of the vehicle, wherein the pose information is used to represent the pose of the vehicle at the current position. The method according to claim 9 or 10, wherein After the receiving of the parking instruction, the method further comprises: acquiring position information of an obstacle during parking of the vehicle based on the parking path; and at least one of the following: controlling the vehicle to stop according to the position information of the obstacle; or determining an updated parking path according to the position information of the obstacle and the parking position, and parking based on the updated parking path. The method of any one of claims 9-11, wherein, After the receiving of the parking instruction, the method further comprises: acquiring actual pose information of the vehicle; and In a case where the actual pose information deviates from preset pose information, determine a target torque of a wheel for rotation and a target steering angle of a wheel for steering according to the deviation, wherein the preset pose information is determined according to the parking path; control the wheel for rotation according to the target torque, and control the wheel for steering according to the target steering angle. A parking device, comprising: a communication unit configured to receive a parking instruction; and a processing unit configured to lock a first wheel of a vehicle, control rotation of at least one of the remaining wheels of the vehicle, and control steering of at least one of the remaining wheels of the vehicle. An electronic device comprising a processor and a memory for storing a computer program, the processor being configured to invoke and run the computer program so that the electronic device performs the method according to any one of claims 1-12. A vehicle comprising a first motor, a second motor, a third motor, and an electronic device according to claim 14. The vehicle according to claim 15, wherein the first motor is configured to drive rotation of a front wheel of the vehicle; the second motor is configured to drive rotation of a first rear wheel of the vehicle; the third motor is configured to drive rotation of a second rear wheel of the vehicle. The vehicle of claim 16, wherein The second motor is configured to drive rotation of the first rear wheel in a third direction, and the third motor is configured to drive rotation of the second rear wheel in a fourth direction, the third direction and the fourth direction being opposite. The vehicle of claim 17, wherein When the vehicle rotates around the first wheel as a center, the second motor drives the first rear wheel to rotate in the same direction as the first motor drives the first front wheel to rotate, the second motor drives the first rear wheel to rotate in the opposite direction of the third motor drives the second rear wheel to rotate, the first front wheel is another front wheel of the vehicle except the first wheel, and the first rear wheel and the first front wheel are on the same side of the vehicle. The vehicle of claim 18, wherein When the vehicle rotates clockwise around the first wheel as a center, the first motor controls the first front wheel to rotate in a direction of a head of the vehicle, the second motor controls the first rear wheel to rotate in the direction of the head of the vehicle, and the third motor controls the second rear wheel to rotate in a direction of a tail of the vehicle. A computer-readable storage medium, wherein, The computer readable storage medium stores a computer program, the computer program comprising instructions for performing the method according to any one of claims 1-12. A computer program product comprising computer instructions which, when executed by a vehicle according to any one of claims 15-19, cause the vehicle to implement the method according to any one of claims 1-12.

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