Vehicle parking system, vehicle parking method, control device and storage medium

Abstract

A vehicle parking system, comprising an acquisition device and a control device. The acquisition device is used for acquiring environmental data of a target parking area, and the acquisition device and a vehicle are detachably arranged. The vehicle comprises a towing vehicle and a towed object which are connected to each other. The control device is communicatively connected to the acquisition device, and is used for generating a control instruction on the basis of the environmental data, and controlling, on the basis of the control instruction, the vehicle to park.

Description

Vehicle parking systems, vehicle parking methods, control devices and storage media

[0001] Cross-references

[0002] This application claims priority to Chinese application No. 202410956305.3, filed on July 17, 2024, entitled "Vehicle Parking System, Vehicle Parking Method, Control Device and Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0003] The embodiments of this application relate to, but are not limited to, the field of vehicle technology, and particularly relate to a vehicle parking system, a vehicle parking method, a control device, and a storage medium. Background Technology

[0004] With rising living standards and changing travel attitudes, self-driving tours and outdoor camping are becoming increasingly popular. Trailer caravans, with their spacious interiors, comprehensive facilities, and high flexibility, offer a home-like mobile experience, meeting the needs for personalized and comfortable travel.

[0005] However, the technology for automatic parking of towed caravans or large objects is still under development and its practical application is not yet widespread. Technical solutions

[0006] This application provides a vehicle parking system, a vehicle parking method, a control device, and a storage medium, which improves the stability of towing objects when parking.

[0007] To achieve the above objectives, according to a first aspect of this application, a vehicle parking system is provided, the system comprising:

[0008] A data acquisition device is used to collect environmental data of a target parking area. The data acquisition device can be detached from the vehicle. The vehicle includes a towing vehicle and a towing object connected to each other.

[0009] A control device is communicatively connected to the data acquisition device. The control device is used to generate control commands based on the environmental data and control the vehicle to park according to the control commands.

[0010] According to a second aspect of this application, a vehicle parking method is provided, the method comprising:

[0011] The system acquires environmental data of a target parking area collected by a data acquisition device, wherein the data acquisition device is detachable from the vehicle; the vehicle includes a towing vehicle and a towing object connected to each other.

[0012] Control commands are generated based on the environmental data, and the vehicle is controlled to park according to the control commands so that the towed object stops in the target parking area.

[0013] According to a third aspect of this application, a vehicle parking device is provided, the device comprising:

[0014] A data acquisition device is used to acquire environmental data of a target parking area collected by a data acquisition device, wherein the data acquisition device is detachable from the vehicle; the vehicle includes a towing vehicle and a towing object connected to each other.

[0015] The controller is used to generate control commands based on the environmental data, and control the vehicle to park according to the control commands, so that the towed object stops in the target parking area.

[0016] According to a fourth aspect of this application, a vehicle parking system is provided, including a control device, a towing vehicle, and a towing object; wherein the control device is used to perform the steps of the vehicle parking method as described in the second aspect.

[0017] According to a fifth aspect of this application, a control device is provided, including a processor and a memory, the memory storing a plurality of instructions; the processor loads instructions from the memory to perform the steps of the vehicle parking method as described in the second aspect.

[0018] According to a sixth aspect of this application, a computer-readable storage medium is provided that stores a plurality of instructions adapted for loading by a processor to perform the steps of the vehicle parking method as described in the second aspect.

[0019] According to a seventh aspect of this application, a computer program product is provided, including computer instructions or directives that, when executed by a processor, implement the steps of the vehicle parking method as described in the second aspect.

[0020] In the vehicle parking method, apparatus, system, device, and storage medium of this application embodiment, environmental data of the target parking area is collected, and control commands are generated based on the environmental data. The vehicle is then controlled to park according to the control commands, thereby enabling the towing object to stop in the target parking area. This achieves automatic parking in combination with the towing vehicle, improving parking operation efficiency.

[0021] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0024] Figure 1 is a schematic diagram of the architecture of a vehicle parking system provided in some embodiments of this application;

[0025] Figure 2 is a schematic diagram of the application scenario of the vehicle parking method provided in some embodiments of this application;

[0026] Figure 3 is a flowchart illustrating a vehicle parking method provided in some embodiments of this application;

[0027] Figure 4 is a flowchart illustrating a vehicle parking method provided in some other embodiments of this application;

[0028] Figure 5 is a schematic diagram of a scenario where a towing object is parked in a target parking area according to some embodiments of this application;

[0029] Figure 6 is a schematic diagram of the swing angle of the traction object provided in some embodiments of this application;

[0030] Figure 7 is a schematic diagram of a scenario of top-scanning of an aircraft provided in some embodiments of this application;

[0031] Figure 8 is a schematic diagram of an aircraft orbital scan scenario provided in some embodiments of this application;

[0032] Figure 9 is a flowchart illustrating a vehicle parking method provided in some other embodiments of this application;

[0033] Figure 10 is a flowchart illustrating the aircraft scanning steps provided in some embodiments of this application;

[0034] Figure 11 is a flowchart illustrating the spatial modeling and path planning steps provided in some embodiments of this application;

[0035] Figure 12 is an overall flowchart of a vehicle parking method provided in some embodiments of this application;

[0036] Figure 13 is an overall flowchart of a vehicle parking method provided in some embodiments of this application;

[0037] Figure 14 is a structural schematic diagram of a vehicle parking device provided in some embodiments of this application;

[0038] Figure 15 is a schematic diagram of the structure of the control device provided in some embodiments of this application.

[0039] Implementation methods of this application

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application. In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0041] Currently, automated parking technology for towed caravans or other objects is not yet widespread. Automated parking of towed caravans or other objects presents significant challenges due to their large size and length, requiring substantial parking space and extremely high precision when docking with campsite facilities. Automated parking systems must accurately calculate and control vehicle movement to ensure safe and accurate parking within limited spaces, placing extremely high demands on sensor accuracy, path planning algorithms, and control systems. Furthermore, the stability of towed caravans or other objects during automated parking also presents challenges. The environmental conditions of different parking lots or campsites vary, including but not limited to parking space size, ground conditions, and surrounding obstacles. Automated parking systems must possess strong environmental perception capabilities and flexible scene adaptability, capable of acquiring and processing large amounts of information in real time to handle various complex parking scenarios.

[0042] In view of this, embodiments of this application provide a vehicle parking method, device, system, equipment, and storage medium. Since towed caravans or objects themselves do not have sensors and their shapes may be irregular, a three-dimensional coordinate system and a three-dimensional map are established by introducing a data acquisition device. Modeling is performed based on the three-dimensional point cloud data of the towing vehicle and the towed object (such as a towed caravan or object). Path planning is then performed based on the three-dimensional map and model, thereby realizing automatic parking of the towed object and solving problems such as difficulty in scale and precision control, poor dynamic stability, and inaccurate environmental perception caused by the towed object obstructing the vehicle's sensors during traditional towing processes.

[0043] Referring to Figure 1, this application embodiment provides a vehicle parking system, which includes a data acquisition device 10 and a control device 30. The data acquisition device 10 is detachably mounted from the vehicle 20. The data acquisition device 10 is communicatively connected to the control device 30. In some embodiments, the control device 30 can be mounted on the data acquisition device 10, on the vehicle 20, or mounted on other devices and communicatively connected to the data acquisition device 10 and / or the vehicle 20. It should be noted that the vehicle referred to in this application embodiment includes a towing vehicle and a towing object, which are connected to each other during parking. The towing object refers to the object being towed, and the towing vehicle refers to the vehicle used to tow the towing object. The towing object may or may not have driving capability. Exemplarily, the towing object includes, but is not limited to, a towed caravan, a regular vehicle, or other objects.

[0044] A tractor unit can be connected to a towed object via a connecting device, thereby moving the towed object through the movement of the tractor unit. The connection between the tractor unit and the towed object can be rigid or non-rigid. Connecting devices include, but are not limited to, tow hooks, tow bars, or hinges. The connection between the tractor unit and the towed object is called a towing combination. The tractor unit and the towed object can be automatically connected by the tractor unit or manually connected by the user. The connection between the tractor unit and the towed object includes physical and electrical connections. Physical connections include, but are not limited to, connections via mechanical connectors, tow bars or ropes, magnetic connectors, etc., such as hooks, pins, and snap-fit ​​connectors. Electrical connections include, but are not limited to, cable connections and circuit connection. For example, the connection of vehicle wiring, light signal wiring, etc., to control the synchronization of the brake light signals and turn signal signals of the tractor unit and the towed object, etc.

[0045] The data acquisition device collects environmental data of the target parking area, while the control device generates control commands based on the environmental data and controls the vehicle to park according to the control commands. The environmental data includes at least one of the following: terrain data, obstacle data, and parking space size data.

[0046] Specifically, the data acquisition device can use its onboard acquisition equipment, such as cameras, lidar, or 3D point cloud scanning equipment, to perform a full-range scan of the target parking area, thereby collecting environmental data such as terrain, obstacles, and parking space dimensions, and sending it to the control device. The control device can then generate control commands based on the environmental data and control the vehicle to park according to the control commands, so that the towed object stops in the target parking area.

[0047] In some embodiments, the control device includes a first data calculator. When the vehicle is parking, the acquisition device collects real-time driving data of the vehicle, and the first data calculator generates a parking correction command based on the real-time driving data. The real-time driving data includes one or more of the following: the pose data of the towing vehicle, the pose data of the towed object, and obstacle data. Based on the real-time driving data collected by the acquisition device, the control device can determine the real-time driving state of the towing vehicle and / or the towed object, thereby judging the vehicle's stability and determining whether correction is needed. When the real-time driving state indicates that the vehicle does not meet stability conditions, the first data calculator determines that correction is needed and generates a parking correction command based on the real-time driving data. The parking correction command is used to update the remaining parking path, such as replanning the remaining parking path.

[0048] In some embodiments, the control device includes a second data calculator for generating a map model based on environmental data; and / or for generating a parking path for the vehicle based on environmental data. Specifically, the second data calculator establishes a map model as a reference. The computer device constructs the map model by fusing data from a Global Positioning System (GPS) receiver, an Inertial Measurement Unit (IMU), and other positioning sensors, thereby ensuring that the acquisition device can accurately determine its absolute position and attitude within the map model. The second calculator can also be used to generate a parking path for the vehicle based on environmental data, i.e., a parking path that starts from the current location and travels to the target parking area.

[0049] Compared to parking a single vehicle, when a tractor unit and a towed object are parked together, the towed object may shift laterally or sway as it is pulled by the tractor unit, introducing instability into the connection. Furthermore, the tractor unit is also subject to the relative force of the towed object, which affects its stability. Consequently, traditional path planning may lead to collision risks during the movement of the traction combination. Therefore, more driving restrictions need to be considered to ensure the stability of the traction combination during operation.

[0050] Therefore, in some embodiments, the second calculator is also used to obtain the vehicle's driving restrictions and, under the constraints of the driving restrictions, generate the vehicle's parking path based on environmental data. The driving parameters defined by the driving restrictions include at least the turning radius of the traction assembly, the reversing angle, and the safety distance.

[0051] The turning radius of a towing unit refers to the minimum distance from the outermost point of the towing unit to the centerline of the turning path when the towing unit is turning. For a towing vehicle and a motorhome combination, due to the special characteristics of the vehicle length and connection method, its turning radius is usually larger than that of a single vehicle. Using the 3D point cloud data of the towing unit, the turning radius of the towing unit at different angles can be accurately calculated. The reversing angle refers to the maximum reversing angle that can be achieved when the towing vehicle and the towed object need to maintain their relative positions through the connecting device while reversing. When planning parking routes, this angle limitation must be considered to ensure that the connecting device does not break or the vehicle loses control due to excessive angles during reversing. The maximum reversing angle is a calibrable value. Using the 3D point cloud data of the towing unit, the relative position and angle changes of the towing vehicle and motorhome during reversing can be simulated, thereby determining a safe range of reversing angles. To prevent collisions between the towing vehicle and motorhome and other vehicles or obstacles during parking, a certain safety distance needs to be reserved when planning the route. When planning parking routes, it is essential to ensure that both the towing vehicle and the motorhome can safely stop or avoid obstacles within a safe distance under any circumstances. Using 3D point cloud data of the towing assembly, the actual size and shape of the towing assembly at different positions and angles can be accurately calculated. Combining this information with the positional information of other vehicles and obstacles allows for the determination of the necessary safe distances.

[0052] In some embodiments, the data acquisition device is an aircraft or a mobile robot equipped with the data acquisition device. Exemplarily, the data acquisition device may be one or more of a camera, radar, or a 3D point cloud scanning device. The number of data acquisition devices may be one or more.

[0053] In some embodiments, the towing object has an intelligent controller that controls the connection or disconnection of the towing object from external equipment based on environmental data. The external equipment may be, for example, a towing vehicle or other road infrastructure. For instance, after the towing vehicle pulls the towing object to a parking spot within a target parking area, the towing object uses the intelligent controller to control its disconnection from the towing vehicle. Alternatively, the towing object may use the intelligent controller to control its connection to road infrastructure (such as charging stations, water pipes, etc.).

[0054] Please refer to Figure 2. This embodiment of the application can be applied to the scenario shown in Figure 2. This scenario illustrates a vehicle parking system, which includes at least a data acquisition device 10, a towing vehicle 201, a towing object 202, and a control device 30. The data acquisition device 10 is, for example, an aircraft, and the control device 30 is, for example, a computer device. The towing vehicle 201 and the towing object 202 can be connected to form a towing combination, i.e., the vehicle 20 referred to in the above embodiment. The aircraft can carry one or more data acquisition devices, such as ultrasonic radar, millimeter-wave radar, lidar, and surround-view cameras.

[0055] In some embodiments, the control device 30 is used to execute a vehicle parking method and may be a terminal device or a server. The control device 30 is directly or indirectly connected to the towing vehicle 201 via wired or wireless communication to control the movement of the towing vehicle 201, thereby causing the towing object 202 to move. For example, the control device 30 may be an on-board terminal on the towing vehicle 201. Alternatively, the control device 30 may be a cloud server connected to the towing vehicle 201. Or, the control device 30 may be a terminal device connected to the towing vehicle 201. Furthermore, the control device 30 may also be a drone.

[0056] Terminal devices include, but are not limited to, one or more of the following: mobile phones, computers, IoT devices, in-vehicle terminals, and portable wearable devices. IoT devices may include smart in-vehicle devices, etc. Portable wearable devices may include, but are not limited to, smartwatches, smart bracelets, smart glasses, and head-mounted devices, etc. Servers may be independent servers, or server networks, server clusters, or distributed systems composed of multiple servers. Servers include, but are not limited to, computers, network hosts, single network servers, sets of multiple network servers, or cloud servers composed of multiple servers. Cloud servers consist of a large number of computers or network servers based on cloud computing.

[0057] The following is a detailed description in conjunction with the accompanying drawings. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments. Although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than that shown in the drawings.

[0058] Please refer to Figure 3, which provides a vehicle parking method applied to a control device. This control device can be an on-board terminal on a tractor unit, a computer device communicating with the tractor unit, a server communicating with the tractor unit, or a controller on an aircraft, etc. The tractor unit can be a gasoline-powered vehicle, a plug-in hybrid electric vehicle, or a new energy vehicle, etc., and this application does not specifically limit its application to these categories. The method includes:

[0059] Step S101: Obtain environmental data of the target parking area collected by the data acquisition device, wherein the data acquisition device and the vehicle can be set separately; the vehicle includes a towing vehicle and a towing object connected to each other.

[0060] The control device communicates with the acquisition device and acquires environmental data of the target parking area collected by the acquisition device. This environmental data includes, but is not limited to, one or more of the following: the size of the target parking area, terrain, the distribution of obstacles within or around the target parking area, and 3D point cloud data of the obstacles. For example, the acquisition device can collect environmental data of the target parking area through panoramic surround view, satellite maps, point cloud scanning, etc.

[0061] In some embodiments, the data acquisition device is, for example, an aircraft. The control device controls the aircraft to take off first. The aircraft uses onboard cameras, lidar, or 3D point cloud scanning equipment to perform a full-range scan of the target parking area, thereby collecting environmental data such as terrain, obstacles, and parking space dimensions, and sending it to the control device. The control device then receives the environmental data transmitted by the aircraft.

[0062] Step S102: Generate control commands based on environmental data, and control the vehicle to park according to the control commands so that the towed object stops in the target parking area.

[0063] The control device generates control commands based on received environmental data and then controls the vehicle to park according to these commands. This parking control can involve controlling the towing vehicle to move and move the towed object, thereby achieving parking. Alternatively, if the towed object has an intelligent controller, the control device can control the vehicle to park, or it can control both the towing vehicle and the towed object to move together for parking.

[0064] In some embodiments, generating control instructions based on environmental data includes: generating a parking path for the vehicle based on the environmental data, and generating control instructions carrying the parking path; accordingly, controlling the vehicle to park according to the control instructions includes: controlling the vehicle to park according to the parking path.

[0065] In some embodiments, the control device first establishes a global coordinate system as a reference. The control device constructs the global coordinate system by fusing data from the GPS receiver, inertial measurement unit, and other positioning sensors, thereby ensuring that the aircraft can accurately determine its absolute position and attitude within this global coordinate system. Furthermore, the aircraft can combine real-time acquired position data with geomagnetic data, landmark information, etc., through flight scanning to establish a three-dimensional space within the global coordinate system. This three-dimensional space includes the target parking area. Therefore, based on the global coordinate system, the control device plans a parking path from the current position to the target parking area within this three-dimensional space. The control device generates control commands carrying the parking path and controls the vehicle to park according to the parking path specified in the control commands.

[0066] The vehicle parking method of this application collects environmental data of the target parking area, generates control commands based on the environmental data, and controls the vehicle to park according to the control commands, thereby enabling the towed object to stop in the target parking area. This realizes automatic parking of the combination of the towed vehicle and the towed object, and improves parking operation efficiency.

[0067] In some embodiments, referring to Figure 4, generating a parking path for the vehicle based on environmental data includes:

[0068] Step S201: Obtain the 3D point cloud data of the vehicle;

[0069] Step S202: Based on environmental data and 3D point cloud data, determine the parking path to the target parking area under driving restrictions; wherein, driving restrictions are used to ensure the stability of the vehicle during driving.

[0070] Compared to parking a single vehicle, when a tractor and the towed object are moving together to park the towed object, it is necessary to consider not only the stability of the individual vehicle but also the stability of the combination formed by the tractor and the towed object. For ease of explanation, the combination formed when the tractor and the towed object are connected will be referred to as a traction combination below.

[0071] Since the traction assembly consists of a tractor unit and a towed object, the towed object may experience lateral displacement or swaying when pulled by the tractor unit, introducing instability into the connection. Conversely, the tractor unit is also subject to the relative forces exerted by the towed object, affecting its stability. Consequently, traditional path planning may lead to collision risks during the traction assembly's movement. Therefore, more driving constraints need to be considered to ensure the stability of the traction assembly during operation. Thus, to generate parking paths more accurately, the control device acquires 3D point cloud data of the vehicles, including the tractor unit and / or the towed object. The 3D point cloud data of the tractor unit and / or the towed object can be extracted from pre-stored files by the control device or obtained through on-site scanning by a data acquisition device.

[0072] The driving parameters limited by the driving restrictions include at least the turning radius, reversing angle, and safety distance of the towing combination. The turning radius of the towing combination refers to the minimum distance from the outermost point of the towing combination to the center line of the turning path when the towing combination is turning. For a combination of a towing vehicle and a motorhome, due to the special nature of the vehicle length and connection method, its turning radius is usually larger than that of a single vehicle. Using the vehicle's 3D point cloud data, the turning radius of the towing combination at different angles can be accurately calculated. The reversing angle refers to the maximum reversing angle that can be achieved when the towing vehicle and the towed object need to maintain their relative positions through the connecting device while reversing. When planning parking routes, this angle limitation must be considered to ensure that the connecting device does not break or the vehicle loses control due to excessive angles during reversing. The maximum reversing angle is a calibrable value. Using the vehicle's 3D point cloud data, the relative position and angle changes of the towing vehicle and motorhome during reversing can be simulated, thereby determining a safe range of reversing angles. To prevent collisions between the towing vehicle and motorhome and other vehicles or obstacles during parking, a certain safety distance needs to be reserved when planning the route. When planning parking routes, it is essential to ensure that both the towing vehicle and the motorhome can safely stop or avoid obstacles within a safe distance under any circumstances. Using the vehicle's 3D point cloud data, the actual size and shape of the towing assembly at different positions and angles can be precisely calculated. Combining this information with the positional information of other vehicles and obstacles determines the necessary safe distance.

[0073] Based on environmental data, the control device determines the surrounding environment of the target parking area, including the size of the parking area, the distribution of surrounding obstacles, and the location and size of the obstacles. This allows it to identify a suitable area for planning a parking path, known as the planning area. Within this planning area, the control device uses the vehicle's 3D point cloud data and, under the driving constraints of the traction assembly, plans a parking path for the traction unit to reach the target parking area. The control device can employ various path planning algorithms, including but not limited to one or more of the A / A* algorithm, artificial potential field method, and Dijkstra's algorithm. Thus, the control device can find an optimal parking path from the starting point to the destination in a complex environment, ensuring the safety and feasibility of this parking path.

[0074] In some embodiments, the control device determines the three-dimensional coordinates of the outermost point of the traction assembly based on the vehicle's three-dimensional point cloud data, and ensures that the distance between the outermost point and the three-dimensional coordinates of other points on other vehicles or obstacles is at least not less than a safe distance when planning the path, thereby meeting the constraint of reserving a safe distance. For example, the control device calculates the distance in the horizontal direction from the outermost point of the traction assembly to the center line of the turning path when turning, based on the vehicle's three-dimensional point cloud data, and ensures that this distance is greater than a preset minimum angle, thereby meeting the constraint of the turning radius. Furthermore, the control device calculates the relative angle between the towing vehicle and the towed object when reversing, based on the vehicle's three-dimensional point cloud data, and ensures that this relative angle is less than the maximum reversing angle, thereby meeting the constraint of the reversing angle.

[0075] Therefore, after planning the parking path, the control device can control the towing vehicle and the towed object to travel along the parking path to the target parking area. The control device determines whether the towing vehicle and the towed object are connected, including but not limited to physical and electrical connections. Once the connection is confirmed, the control device controls the towing vehicle to travel along the parking path according to predetermined control parameters, thereby towing the towed object along the parking path as well. Thus, as shown in Figure 5, the control device controls the towing vehicle 201 to park the towed object 202 within the target parking area.

[0076] Control parameters refer to the parameters used by the tractor to control the drive system for driving. Because factors such as the size, mass, center of gravity, suspension system, and tire friction coefficient of the traction assembly need to be considered, the control device needs to simulate the control parameters during driving to ensure efficient parking operations while maintaining the safety and stability of the traction assembly. Control parameters include, but are not limited to, control parameters for straight-line and turning conditions. Straight-line driving refers to a scenario where the tractor outputs power to tow the object until it reaches a designated position. Turning conditions refer to the tractor turning and pulling the object in the turn. For example, control parameters include, but are not limited to, one or more of speed, acceleration, and steering angle. Furthermore, since the tractor is also affected by the resistance of the towed object, control parameters may also include output torque to adjust for different resistance levels posed by the towed object.

[0077] In the aforementioned vehicle parking method, by collecting environmental data of the target parking area and acquiring three-dimensional point cloud data of the vehicle, the traction assembly and the surrounding environment can be accurately perceived. Based on the environmental data and the three-dimensional point cloud data, under the driving constraints of the traction assembly, the parking path to the target parking area is determined. This takes into account the physical characteristics of the traction vehicle and the towed object after connection, such as dimensional characteristics and kinematic characteristics, ensuring the accuracy of the planned parking path and guaranteeing the stability and safety of the traction assembly. Furthermore, after confirming the connection between the traction vehicle and the towed object, the traction vehicle tows the towed object along the parking path to bring the towed object to a stop within the target parking area, achieving safe parking of the traction assembly and improving parking operation efficiency.

[0078] While the tractor is towing the towed object along the parking path, the control device can also monitor the towing combination and the surrounding environment in real time to ensure the stability and safety of the towing combination. Therefore, in some embodiments, the method further includes: acquiring real-time driving data collected by the acquisition device; determining the real-time driving status of the vehicle based on the real-time driving data; and updating the remaining parking path when the real-time driving status does not meet the stability conditions.

[0079] Taking an aircraft as the data acquisition device as an example, specifically, the control device can use the aircraft to collect real-time data on the towing vehicle, the towed object, and the surrounding environment. For instance, the aircraft can fly above the towing assembly to collect real-time driving data. Real-time driving data includes, but is not limited to, the pose data of the towing vehicle, the pose data of the towed object, and obstacle data. The pose data includes position and attitude. The obstacle data includes the position and size of obstacles.

[0080] Stability conditions serve two purposes: firstly, to ensure the dynamic characteristics of the traction assembly, and secondly, to account for unexpected situations in the driving environment. For example, stability conditions include, but are not limited to, the distance between the traction assembly and an obstacle being less than a preset distance, the lateral sway amplitude of the towed object relative to the driving direction being less than a preset amplitude, and the sway angle of the towed object relative to the tractor being less than a preset angle. To this end, the real-time driving state of the vehicle is determined based on real-time driving data, including at least one of the following: determining the distance between the traction assembly and the obstacle based on the pose data of the tractor, the pose data of the towed object, and obstacle data; determining the lateral sway amplitude of the towed object relative to the driving direction based on the pose data of the towed object; and determining the sway angle of the towed object relative to a fixed reference point based on the pose data of the tractor and the pose data of the towed object.

[0081] The control device determines the distance between the traction assembly and the obstacle using the pose data of the tractor, the tractor object, and the obstacle data. The distance between the traction assembly and the obstacle includes the distance between either the tractor or the tractor object and the obstacle. Specifically, the control device can use the pose data of the tractor and the tractor object to determine the distance between them and various points on the obstacle, and then use the minimum distance as the distance between the traction assembly and the obstacle to determine whether the stability condition is met. For example, the control device can calculate the distance using an Euclidean algorithm. The control device can calculate the swing angle of the tractor object relative to a fixed reference by comparing the point cloud data of the traction assembly at two different time points or positions, as shown in Figure 6. The fixed reference is, for example, the direction of travel. The swing angle of the tractor object 202 relative to the tractor 201 reflects the stability of the connection. With due north as the reference and counterclockwise rotation as the positive direction, the control device can calculate the swing angle θ = arctan(y / x) using the horizontal projection coordinates (x, y) of a feature point on the traction assembly. Lateral sway can typically be determined by analyzing the horizontal displacement changes of feature points on the edge of the traction assembly or on the wheels. At two consecutive time points t1 and t2, the control device can calculate the coordinates of a feature point Q on the edge of the traction assembly vehicle body as (x1, y1, z1) and (x2, y2, z2), respectively. The control device can then calculate the horizontal displacement change Δx of this feature point Q as Δx = x2 - x1.

[0082] Therefore, by judging the stability of the traction combination during its movement based on real-time driving data, the vehicle status can be monitored in real time, and the parking path can be updated in a timely manner, effectively improving the stability and safety of parking operations.

[0083] If the control device determines that the vehicle's real-time driving state does not meet the stability conditions, it updates the remaining parking paths. This update process may involve recalculating the optimal parking path, taking into account factors such as the current position of the traction assembly, surrounding obstacles, and applicable driving restrictions. The updated parking path should meet the stability conditions and be able to safely and efficiently park the towed object into the target parking area.

[0084] In the above embodiments, by monitoring and analyzing the vehicle's driving status and environmental conditions in real time, the system can promptly detect and respond to any factors that may affect parking stability. By updating the parking path, the system ensures that the vehicle safely completes parking along the optimal route, thus avoiding accidents or collisions that may occur due to unstable driving conditions.

[0085] In some embodiments, the control device determines a parking path for a tractor to travel to a target parking area under driving restrictions based on environmental data and three-dimensional point cloud data, including: establishing a three-dimensional map based on environmental data and establishing a three-dimensional model of the vehicle based on the three-dimensional point cloud data; determining a planning area in the three-dimensional map, and within the planning area, determining a parking path for the tractor to travel to the target parking area based on the three-dimensional model of the vehicle under driving restrictions.

[0086] After receiving environmental data, the control device processes and fuses the acquired data to create a high-precision 3D map that reflects the terrain and road layout in the real world. Simultaneously, based on the vehicle's 3D point cloud data, the control device uses 3D reconstruction algorithms such as voxelization, polygonization, or surface fitting to initially generate a 3D model of the vehicle. This 3D model includes, but is not limited to, the overall shape of the traction assembly, windows, doors, hooks, and other structural details. In some embodiments, since the generated 3D model may still have issues such as noise points, discontinuous areas, and voids, the control device can optimize the model quality through a series of post-processing operations such as filtering, smoothing, and filling voids. Furthermore, the control device needs to further refine the model based on the actual physical characteristics of the traction assembly. Actual physical characteristics include the material properties of the connecting devices (rigid or non-rigid materials, etc.) and physical dimensional constraints. To achieve precise parking, the control device can also scale and calibrate the vehicle's 3D model based on a calibration board with known physical dimensions or measured data to ensure that the model size matches the actual object and the scale of the 3D map. Finally, the control device determines the planning area in the 3D map, which is the usable area after removing the space occupied by obstacles. Within the planned area, the control device, based on the dimensions of the traction assembly represented by the vehicle's 3D model, determines the parking path for the towing vehicle to reach the target parking area under driving constraints. The control device can employ various path planning algorithms, including but not limited to one or more of the following: A-algorithm, artificial potential field method, and Dijkstra's algorithm. Thus, the control device can find an optimal parking path from the starting point to the destination in a complex environment, ensuring the safety and feasibility of this parking path.

[0087] In the above embodiments, by using a high-precision 3D map to determine the planning area that can be used for path planning, and within the planning area, by taking into account driving restrictions and the 3D model of the vehicle, parking path planning can be performed accurately, preventing collisions and accidents and ensuring the safety of parking operations.

[0088] In some embodiments, a parking path for a tractor to reach a target parking area is determined based on a three-dimensional model of the vehicle, under driving restrictions. This includes: dividing the planning area into multiple grids; determining the starting grid where the tractor assembly is located and the ending grid where the target parking area is located; determining multiple candidate grids based on a safety distance; and determining multiple target grids sequentially from the starting grid among the multiple candidate grids based on the turning radius and reversing angle. The first target grid is connected to the starting grid, and the last target grid is connected to the ending grid. Based on the starting grid, the multiple target grids, and the ending grid, the parking path for the tractor to reach the target parking area is determined.

[0089] The control device divides the entire planning area into multiple grids, each representing a fixed-size region for path planning. The grid containing the starting position of the towing assembly is the starting grid, and the grid containing the target parking area is the ending grid—the final parking location for the towed vehicle. Based on safety distances, the control device further filters and selects the grids to obtain multiple candidate grids that meet the distance margin requirements between the towing assembly and obstacles. Parking path planning is then performed within these candidate grids. Next, based on turning radius and reversing angle constraints, the control device, starting from the starting grid, determines the next grid connected to it. This next grid ensures that the towing assembly, starting from its actual position at the starting grid, meets the turning radius and reversing angle constraints throughout its journey to that grid. This process is repeated, sequentially determining multiple target grids until the ending grid is reached. Thus, the control device can determine the parking path for the towing vehicle to reach the target parking area by connecting the starting grid, multiple target grids, and the ending grid in sequence. Depending on the size and characteristics of the specific site, the control device can adjust the size and number of grids to adapt to different parking needs and environmental conditions.

[0090] In the above embodiments, precise grid division and path planning ensure that the towing vehicle moves in the most efficient and safe manner, avoiding collisions with obstacles. Furthermore, the automatic path calculation algorithm improves the efficiency and accuracy of the parking process.

[0091] Based on the above embodiments, starting from the starting grid, multiple target grids are sequentially determined from multiple candidate grids, including: determining the candidate grids around the starting grid in the current round, and determining the distance cost corresponding to each candidate grid; taking the candidate grid corresponding to the minimum distance cost as the starting grid in the next round, and returning to the step of determining the candidate grids around the starting grid to continue execution, until the candidate grid corresponding to the minimum distance cost is the endpoint grid; taking the candidate grid corresponding to the minimum distance cost determined in each round as the determined multiple target grids.

[0092] The control device determines the target grid in multiple rounds. In each round, based on the constraints of the turning radius and reversing angle, the control device determines the candidate grids surrounding the current starting grid. The constraints of the turning radius and reversing angle limit the direction in which candidate grids are selected. For example, without constraints on the turning radius and reversing angle, the control device can determine candidate grids from multiple angles such as east, southeast, south, southwest, west, northwest, and north of the current starting grid. However, under the constraints of the turning radius and reversing angle of the current starting grid, the direction in which the control device selects candidate grids is limited; for example, it can only determine candidate grids from the east, southeast, and south angles.

[0093] After identifying multiple candidate grids, the control device calculates the distance cost for each candidate grid. The distance cost is used to evaluate the distance loss of each candidate grid, and serves as the criterion for selecting one of the candidate grids as the target grid.

[0094] In some embodiments, for any candidate grid, the control device calculates a first distance cost and a second distance cost corresponding to that candidate grid, and determines the distance cost of the targeted candidate grid based on the first distance cost and the second distance cost. For example, for any candidate grid, its distance cost is the sum of the first distance cost and the second distance cost. The first distance cost represents the distance between the candidate grid and the initial starting grid, while the second distance cost represents the distance between the candidate grid and the destination grid. By considering the distance cost, the movement path of the traction combination can be shortened as much as possible during planning. Furthermore, the control device determines the minimum calculated distance cost from multiple candidate grids, i.e., the minimum distance cost, and uses the candidate grid corresponding to the minimum distance cost as the starting grid for the next round. If the candidate grid corresponding to the minimum distance cost is the destination grid, path planning stops. The above steps are repeated until the determined starting grid is the destination grid. This allows for the gradual determination of the parking path from the starting position to the target parking area. In the above embodiments, by considering the distance cost of the candidate grids in each round, the shortest path can be planned, thereby optimizing the parking path and improving parking efficiency.

[0095] Due to the complexity of actual parking environments, it may be impossible to determine the parking path for the towing vehicle to reach the target parking area under driving restrictions. Therefore, the method also includes: when the parking path for the towing vehicle to reach the target parking area cannot be determined based on the vehicle's 3D model under driving restrictions, the target parking area is redefined.

[0096] When the control unit is unable to determine the parking path for the towing vehicle to the target parking area within the planned area, based on driving restrictions and the vehicle's 3D model, it can reassess the available parking areas according to the current environmental conditions. Alternatively, if the map data is updated or adjusted, the control unit can also use the aircraft to re-measure the site to update the map information, thereby redetermining the target parking area. Then, based on the redefined target parking area, the control unit uses a path planning algorithm to recalculate a suitable parking path, ensuring that the driving restrictions of the towing combination are met.

[0097] In the above embodiments, by redefining the target parking area and replanning the parking route, the system can avoid parking route planning failures caused by environmental or driving restrictions, thereby improving the reliability and safety of parking operations. Especially under complex or narrow road conditions, redefining the target parking area and route can effectively address challenges, making parking operations more reliable and controllable.

[0098] Whether determining the target parking area for the first time or re-determining it, the determination can be achieved through manual user triggering or automatic system triggering. Therefore, in some embodiments, the method further includes: in response to a search command for a parking area, determining one or more available parking areas within a given range; and in response to a triggering operation for one or more available parking areas, determining the target parking area from the one or more available parking areas.

[0099] Users can send search commands to the control device via touch-screen terminals, mechanical buttons on the vehicle, or via mobile phones and computers. These commands instruct the control device to search for parking areas within a given area. The control device then responds to the search command by searching within the given area to identify one or more available parking areas. From these available areas, the control device can automatically select a target parking area. This allows for real-time searching and selection of available parking areas, maximizing parking lot utilization and ensuring efficient resource allocation and management. Alternatively, the control device can display one or more available parking areas to the user via in-vehicle terminals, mobile phones, or computers. Users can select a target parking area through touch, click, or long-press actions. In response to this selection, the control device determines the chosen available parking area from among the available areas and designates it as the target parking area.

[0100] In the above embodiments, by responding instantly to the user's parking search command, the system quickly determines available parking areas within a given range, reducing user waiting time and improving the efficiency of parking operations. Furthermore, by determining the target parking area based on the user's trigger operation, the system considers user needs and actual conditions, ensuring that users can quickly find suitable parking locations and further optimizing the user's parking experience.

[0101] After the towing vehicle pulls the towing object to the target parking area, the above method further includes: when the towing object is located in the target parking area, controlling the towing vehicle to separate from the towing object so that the towing object stops in the target parking area.

[0102] When the towing object is determined to be within the target parking area, the control device issues a control command to control the separation of the towing vehicle and the towing object. This can be achieved through methods such as unlocking or engaging the connection using a motor or electric device, or releasing pressure using a pneumatic cylinder to push the separation, thereby bringing the towing object to a stop within the target parking area. Depending on the actual situation, the separation of the towing vehicle and the towing object can also be performed manually. The control device can send control commands to the towing vehicle to implement the separation operation; if the towing object has intelligent functions, such as an intelligent controller, the control device can also control the towing object to perform the separation operation itself. During the separation process, the control device can also monitor the connection status between the towing vehicle and the towing object in real time via an aircraft, thereby using the aircraft for observation to ensure a safe distance between the vehicles and ensure a smooth separation process.

[0103] In the above embodiments, by automatically controlling the separation of the tractor and the towing object, the towing object can be accurately parked in the target parking area without human intervention.

[0104] In some embodiments, when the towing object is, for example, a motorhome, it needs to dock with campsite facilities (such as drainage and electrical facilities) in certain scenarios. Therefore, in some embodiments, after the target vehicle parks in the target parking area, the method further includes adjusting the pose of the towing object to allow it to dock with the docking facility within the target parking area. Specifically, the control device automatically performs pose adjustment operations based on data collected by sensors or aircraft, according to a preset docking algorithm. The pose adjustment operations include, but are not limited to, adjusting the position and angle of the towing object. The control device can control the towing vehicle to adjust the pose of the towing object before separation, or control the towing object to adjust its own pose after separation (requiring the towing object to have pose adjustment capabilities), thereby enabling the towing object to accurately dock with the docking facility within the target parking area.

[0105] In the above embodiments, the posture adjustment mechanism ensures that the towing object can accurately and quickly dock with the docking facility in the target parking area, which greatly improves the efficiency and speed of parking operations.

[0106] In this embodiment, a 3D model is established by collecting 3D point cloud data using an aircraft, enabling a global scan of the tractor / towing object and improving the comprehensiveness and accuracy of the data. Therefore, in some embodiments, acquiring the vehicle's 3D point cloud data includes: flying above the tractor assembly using a data acquisition device to collect first point cloud data of the top surface of the tractor assembly; flying around the tractor assembly along a preset trajectory using the data acquisition device to collect second point cloud data of the sides of the tractor assembly; and acquiring the vehicle's 3D point cloud data based on the first and second point cloud data.

[0107] Taking an aircraft as the data acquisition device as an example, as shown in Figure 7, the control device controls the aircraft to fly above the traction assembly. Using sensors such as lidar or cameras, it scans and measures the traction assembly to acquire point cloud data collected from top to bottom, i.e., the first point cloud data, to construct the geometry of the object's top. The first point cloud data includes point cloud data of the top plane of the traction assembly. Next, the control device controls the aircraft to perform multi-angle, multi-directional circumferential scanning around the object according to a preset trajectory, collecting point cloud data from various sides of the vehicle body, i.e., the second point cloud data. The second point cloud data provides side information of the traction assembly, including its contours and surface details. Thus, the control device can combine the first and second point cloud data, using point cloud registration and fusion algorithms to generate a complete three-dimensional point cloud model of the traction assembly. This model reflects the overall shape and structure of the traction assembly.

[0108] It should be noted that the control device can scan the tractor and the towing object separately to collect point cloud data, obtaining their respective 3D point cloud models. Then, based on the 3D point cloud models of the tractor and the towing object, a 3D model of the vehicle is obtained. Therefore, the above method can be applied to the scanning process of either the tractor or the towing object.

[0109] In the above embodiments, point cloud data collected from different angles by the acquisition device can provide multi-dimensional information, including data from the top, sides, and other aspects, which helps to accurately describe the shape and structural characteristics of the traction object. Furthermore, non-contact point cloud data acquisition by the acquisition device avoids contact damage or interference that may occur in traditional measurement methods, effectively avoiding data inaccuracies caused by blind spots, and improving the efficiency and safety of data acquisition.

[0110] To obtain more comprehensive and accurate data, the acquisition device flies around the towing object according to a preset trajectory to collect second point cloud data of the side of the towing object, including: determining at least one flight altitude and at least one flight angle; and collecting second point cloud data of the side of the towing object by flying around the towing object at each flight altitude and at at least one flight angle.

[0111] The control device pre-sets at least one flight altitude and at least one flight angle. Assume the control device determines two flight altitudes, h1 and h2; and several flight angles, including angle A, angle B, angle C, and angle D. For example, altitude h1 can be set to the center altitude of the towing object, and altitude h2 can be slightly higher or lower than the towing object to obtain different viewing angles and coverage areas. Each flight angle can be set as a deflection angle of the flight trajectory; for example, angle A can be around the side of the towing object, angle B can be a slightly downward angle, etc.

[0112] Furthermore, the control device controls the acquisition device to fly around the towing object at each flight altitude and according to a set flight angle, collecting second point cloud data of its side at different altitudes and angles. For example, as shown in Figure 8, at altitude h1, the acquisition device flies around the towing object at angle A to collect side data at that angle. At altitude h1, the acquisition device flies around the towing object at angle B to acquire side data at that angle. Then, at altitude h2, the acquisition device flies around the towing object at angles C and D respectively, collecting second point cloud data of the side at different angles. This orbiting process may involve multiple flight paths at different altitudes and angles, enabling comprehensive utilization of point cloud data from multiple angles and altitudes. This allows for more accurate analysis of the towing object's geometric features, volume, surface quality, and other parameters, ensuring sufficient information is collected for complete reconstruction of the object's 3D model.

[0113] In the above embodiments, by setting different flight altitudes and flight angles, side information of the towing object can be captured from more angles and perspectives. Each choice of flight altitude and angle can cover different sides of the towing object, ensuring the integrity and comprehensiveness of the data, thereby avoiding data loss or omission of key information, and thus improving the accuracy and reliability of subsequent modeling.

[0114] The detection method of the acquisition device mentioned in the embodiments of this application is also applicable to other external sensors such as robots and cameras. External sensors need to have the ability to perform full or combined scanning.

[0115] In a specific embodiment, taking a towed caravan as the towing object and an aircraft as the data collection device as an example, as shown in Figure 9, the overall process of the vehicle parking method provided in this application embodiment includes the following steps:

[0116] Step S301, aircraft scanning.

[0117] Before entering a parking lot or campsite, the control unit can take off the aircraft and use its onboard cameras, lidar, or 3D point cloud scanning device to comprehensively scan the target parking area, acquiring information such as terrain, obstacles, and parking space dimensions. The aircraft can then transmit this data in real time to the RV's onboard computing system or cloud server for processing. Simultaneously, the aircraft can also scan the towing assembly to obtain the vehicle's 3D point cloud data.

[0118] Step S302, Spatial modeling and path planning.

[0119] The control unit can generate an accurate 3D map based on the data collected by the aircraft, and model the traction assembly based on the collected 3D point cloud data to obtain a 3D model of the vehicle. From this, the control unit can calculate the optimal driving route and parking position for the towed caravan and the towing vehicle, considering factors including, but not limited to, the overall length, width, turning radius of the caravan, and distance requirements from other vehicles and buildings.

[0120] Step S303, Dynamic Guidance and Monitoring.

[0121] When the towing vehicle begins parking, the aircraft can provide a dynamic aerial view, monitor changes in the surrounding environment in real time, and provide real-time feedback to the control unit to ensure that safe distances and other key parameters are within reasonable ranges. If the aircraft has path planning capabilities, it can guide the pilot or directly communicate with the control unit via wireless communication technology to help the towed object complete accurate parking.

[0122] Step S304, precise docking and separation.

[0123] After the initial towing vehicle docking is completed, if the caravan has intelligent features, the control system uses aircraft assistance to finely adjust the caravan's position and attitude for precise docking with campsite facilities. The separation operation can also be aided by aircraft observation and guidance, ensuring a safe distance between the vehicles and a smooth separation process.

[0124] In step S301 above, as shown in Figure 10, the aircraft scanning step may include:

[0125] Step S3011: Initialize the global coordinate system. Before scanning, the control device must first establish a reliable global coordinate system as a reference. The control device can initialize the flight of the aircraft, obtain the current position, and combine it with geomagnetic data and other landmark information to create a precise three-dimensional space.

[0126] Step S3012, Top Scan and Surround Scan. The aircraft first flies directly above the towed caravan and performs a high-precision scan of the top of the object from a downward vertical perspective, capturing high-density point cloud data to construct the geometry of the object's top. Next, the aircraft performs a multi-angle, multi-directional surround scan of the object according to a preset trajectory, collecting point cloud data from various sides of the vehicle. By combining the top scan and surround scan, the aircraft drags the object through multiple scans to obtain the complete point cloud coordinates of the object, building a 3D model of the object, and completing the overall combination with the car model. This ensures the accuracy of the object's dimensions and reduces the risk of collision.

[0127] In step S302 above, as shown in Figure 11, the steps of spatial modeling and path planning may include:

[0128] Step S3021, Point Cloud Generation and RV Modeling. The control device uses 3D reconstruction algorithms, such as voxelization, polygonization, or surface fitting, to generate a preliminary 3D model of the towed RV from the collected 3D point cloud data. This model includes, but is not limited to, the overall shape of the towed RV, windows, doors, hooks, and other structural details, ensuring a detailed representation of the RV's physical characteristics.

[0129] Step S3022, Model Optimization and Calibration. Since the initial model may contain noise points, discontinuous regions, and voids, the control device can optimize the model quality through a series of post-processing operations such as filtering, smoothing, and void filling. Simultaneously, the model is further refined based on the actual physical characteristics of the object. To achieve precise parking, the model must also strictly match the actual physical dimensions. The control device can perform proportional scaling calibration on the model based on a calibration plate with known physical dimensions or measured data to ensure that the model dimensions are consistent with the actual object.

[0130] Step S3023: Deducing the motion model. Based on the dynamic characteristics of the tractor and the towed caravan, the control device establishes a kinematic model of the coupling between the tractor and the towed caravan. This model considers factors such as the vehicle's mass, center of gravity, suspension system, and tire friction coefficient to simulate the dynamic response of the traction combination under various driving conditions. Using the above model, the control device can predict how the overall combination of the tractor and the towed caravan will respond under different speed, acceleration, and steering conditions, and calculate the optimal control parameters to minimize the sway amplitude or sway angle of the traction combination, ensuring a safe and efficient driving path. Therefore, for the non-rigid connection between the vehicle body and the towed object, the aircraft scans the connection attitude during motion and derives a motion model for this traction scenario. Simultaneously, the aircraft monitors the traction operation status in real time while the vehicle is running, solving the problem of poor dynamic stability.

[0131] Step S3024, parking path generation. The control device plans a parking route suitable for the tow truck and the managed motorhome to travel together based on the parking path planning algorithm. This route should take into account the driving restrictions such as the turning radius, reversing angle and safety distance of the trailer combination.

[0132] In step S303 above, the dynamic boot and monitoring steps may include:

[0133] Step S3031, Real-time monitoring by the aircraft. During the towing and parking process, the aircraft can be used for aerial monitoring. Equipped with cameras and / or other sensors, the aircraft can transmit real-time position and attitude data of the towing vehicle and the towed caravan, as well as real-time obstacle data. The control unit then analyzes the driving status of the towing vehicle and the caravan, including parameters such as distance, angle changes, and lateral sway, ensuring the stability of the vehicle combination during driving and turning, and providing real-time feedback for subsequent path planning. Thus, the aircraft, as an extension of the vehicle's sensors, performs environmental perception and verification throughout the entire process. When faced with a suspicious obstacle suddenly appearing behind the towed object, the aircraft's sensors are not abnormally obstructed, allowing it to immediately perceive the environment and control the vehicle to brake, greatly improving the accuracy of environmental perception.

[0134] As shown in Figure 12, before step S301 (as shown in Figure 12(a)) or after step S302 and before step S303 (as shown in Figure 12(b)), the method may further include the following steps:

[0135] Step S300, Trailer Connection. This stage first involves the physical connection of the trailer, including the proper docking of the towing vehicle and the towed caravan. For example, this can be done manually by the user or automatically by the towing vehicle / towing vehicle, ensuring the towing hook of the towing vehicle is securely connected to the towing device of the towed caravan. Simultaneously, ensure that the electrical systems (such as brake lights and turn signal wires) are successfully connected via the appropriate wiring harnesses to guarantee normal operation of communication and safety functions between the vehicles during travel. After connection is complete, the control unit can confirm the connection via the onboard controller, checking the circuit connections and the braking system linkage of the towed caravan to ensure that all necessary safety mechanisms are activated in towing mode.

[0136] In a specific implementation scenario, taking a towed caravan as an example, as shown in Figure 13, the vehicle parking method provided in this embodiment includes the following steps:

[0137] Step S401: Select the towable caravan. On the vehicle's infotainment interface, the user selects to activate "Tow Mode" via a touchscreen button or menu option. The control device (e.g., the vehicle terminal) then guides the user through a series of interactive operations to confirm the relevant parameters of the towable caravan. These parameters are crucial for subsequent motion model calculations and path planning. The user may also need to input or select a pre-stored configuration file for the towable caravan so that the control device can quickly plan a parking path based on preset parameters.

[0138] Step S402, Vehicle Control Connection. On the vehicle's infotainment interface, after the physical connection between the tractor and the towed caravan is completed (e.g., hooks, brake lines, light signal lines, etc.), the system will prompt the user to perform an electronic system connection check. The user can follow the on-screen instructions; the control device will automatically or manually verify the connection status, such as checking if the circuit is connected and if the brake lights, turn signals, etc., are synchronized. If everything is normal, the vehicle's screen will display a "Connection Successful" message, and a corresponding icon may light up, indicating that the automatic parking program is ready.

[0139] Step S403: Select Parking Location. The user can manually select a target parking space via the touchscreen, or allow the control device to automatically search for available parking spaces using panoramic surround view, satellite maps, etc. A 3D or 2D bird's-eye view of the vehicle's surroundings will be displayed on the screen. The user can then specify an ideal parking spot or accept the best parking space recommended by the control device. Once selected, the control device will begin planning a precise parking path from the current location to that parking space.

[0140] Step S404: Execute the automatic parking procedure. After selecting a parking space, the user initiates the parking procedure. At this point, the vehicle will require further confirmation, such as selecting the "Automatic Parking" or "Start Execution" function key. Upon receiving the instruction, the control unit begins to gradually control the towing vehicle according to the pre-planned route and control parameters, thereby moving the towed caravan. During this process, voice prompts will guide the user to release the steering wheel and foot pedals, allowing the automatic driving system to take over vehicle control. The vehicle's display screen will show the vehicle's driving route, estimated remaining time, and current vehicle posture in real time until the entire parking process is successfully completed. If unexpected situations arise during parking (such as obstacles, other vehicles, etc.), the control unit uses the vehicle's sensors and the vehicle's body to determine the distance to the obstacles and adjusts the remaining parking path accordingly.

[0141] Based on the same inventive concept, this application also provides a vehicle parking device for implementing the vehicle parking method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more vehicle parking device embodiments provided below can be found in the limitations of the vehicle parking method described above, and will not be repeated here.

[0142] In one embodiment, as shown in FIG14, a vehicle parking device is provided, which can be integrated into a control device, including: a receiver 1401 and a controller 1402, wherein:

[0143] Acquisition device 1401 is used to acquire environmental data of the target parking area collected by the acquisition device, wherein the acquisition device and the vehicle can be set separately; the vehicle includes a towing vehicle and a towing object connected to each other.

[0144] The controller 1402 is used to generate control commands based on environmental data and control the vehicle to park according to the control commands so that the towed object stops in the target parking area.

[0145] In some embodiments, the controller is further configured to generate a parking path for the vehicle based on environmental data, and generate control instructions carrying the parking path; and control the vehicle to park according to the parking path.

[0146] In some embodiments, the controller is further configured to acquire three-dimensional point cloud data of the vehicle; and, based on environmental data and the three-dimensional point cloud data, determine a parking path to the target parking area under driving restrictions; wherein the driving restrictions are used to ensure the stability of the vehicle during driving.

[0147] In some embodiments, the above-mentioned device further includes a monitor for acquiring real-time driving data collected by the acquisition device; determining the real-time driving status of the vehicle based on the real-time driving data; and updating the remaining parking paths in the parking path when the real-time driving status does not meet the stability conditions.

[0148] In some embodiments, the real-time driving data includes at least one of the towing vehicle's pose data, the towing object's pose data, and obstacle data; the monitor is also used to determine the distance between the towing assembly and the obstacle based on the towing vehicle's pose data, the towing object's pose data, and the obstacle data; to determine the lateral sway amplitude of the towing object relative to the driving direction based on the towing object's pose data; or to determine the sway angle of the towing object relative to a fixed reference based on the towing vehicle's pose data and the towing object's pose data.

[0149] In some embodiments, the controller is further configured to build a three-dimensional map based on environmental data and build a three-dimensional model of the vehicle based on three-dimensional point cloud data; determine a planning area in the three-dimensional map, and within the planning area, based on the three-dimensional model of the vehicle, determine a parking path for the tractor to travel to the target parking area under driving restriction conditions.

[0150] In some embodiments, the driving parameters defined by the driving restrictions include at least the turning radius, reversing angle, and safety distance; the controller is also used to divide the planning area into multiple grids, determine the starting grid where the traction assembly is located, and the ending grid where the target parking area is located; determine multiple candidate grids based on the safety distance; and determine multiple target grids sequentially from the starting grid among the multiple candidate grids based on the turning radius and reversing angle; wherein the first target grid in the target grid is connected to the starting grid, and the last target grid is connected to the ending grid; and determine the parking path of the tractor to the target parking area based on the starting grid, the multiple target grids, and the ending grid.

[0151] In some embodiments, the controller is further configured to determine candidate grids around the starting grid in the current round, and determine the distance cost corresponding to each candidate grid respectively; take the candidate grid corresponding to the minimum distance cost as the starting grid in the next round, and return to the step of determining the candidate grids around the starting grid to continue execution until the candidate grid corresponding to the minimum distance cost is the endpoint grid; take the candidate grid corresponding to the minimum distance cost determined in each round as the determined multiple target grids.

[0152] In some embodiments, the above-described apparatus further includes a resetting device for re-determining the target parking area when, based on the three-dimensional model of the vehicle, a parking path for the tractor to travel to the target parking area cannot be determined under driving restrictions.

[0153] In some embodiments, the apparatus further includes a responder for determining one or more vacant parking areas within a given range in response to a search instruction for parking areas; and for determining a target parking area from the one or more vacant parking areas in response to a triggering operation for the one or more vacant parking areas.

[0154] In some embodiments, the device further includes a separator for controlling the separation of the towing vehicle from the towing object when the towing object is located within the target parking area, so that the towing object is parked within the target parking area.

[0155] In some embodiments, the device further includes an adjuster for adjusting the position of the towing object so that the towing object docks with a docking facility in the target parking area.

[0156] In some embodiments, the vehicle's three-dimensional point cloud data includes the three-dimensional point cloud data of the tractor and the three-dimensional point cloud data of the towing object; the acquirer is also used to fly above the towing assembly by the aircraft and collect the first point cloud data of the top surface of the towing assembly; to fly around the towing assembly by the aircraft according to a preset trajectory and collect the second point cloud data of the side surface of the towing assembly; and to acquire the vehicle's three-dimensional point cloud data based on the first point cloud data and the second point cloud data.

[0157] In some embodiments, the acquirer is further configured to determine at least one flight altitude and at least one flight angle; and to acquire second point cloud data of the sides of the traction assembly by having the aircraft fly around the traction assembly at each flight altitude and at at least one flight angle.

[0158] Each of the aforementioned devices can be implemented entirely or partially through software, hardware, or a combination thereof. Each of these devices can be embedded in hardware within or independently of the processor in the control device, or stored in software in the memory of the control device, so that the processor can invoke and execute the operations corresponding to each of these devices.

[0159] In some embodiments, a control device is provided, the internal structure of which can be shown in Figure 15. The control device includes a processor, a memory, an input / output interface, a communication interface, a display, and an input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display, and input device are also connected to the system bus via the input / output interface. The processor of the control device provides computing and control capabilities. The memory of the control device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer instructions. The internal memory provides an environment for the operation of the operating system and computer instructions in the non-volatile storage medium. The input / output interface of the control device is used for exchanging information between the processor and external devices. The communication interface of the control device is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer instructions are executed by the processor, a vehicle data reporting method is implemented.

[0160] In one embodiment, the control device further includes a display. The display of the control device is used to form a visually visible image and can be a screen, a projection device, or a virtual reality imaging device. The screen can be a liquid crystal display or an e-ink display. The input device of the control device can be a touch layer covering the screen, or buttons, a trackball, or a touchpad provided on the housing of the control device, or an external keyboard, touchpad, or mouse, etc.

[0161] Those skilled in the art will understand that the structure shown in Figure 15 is only a block diagram of a part of the structure related to the present application and does not constitute a limitation on the control device applied thereto. The specific control device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0162] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware through computer instructions. These computer instructions can be stored in a non-volatile computer-readable storage medium. When executed, the computer instructions can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The processors involved in the embodiments provided in this application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited thereto.

[0163] In some embodiments, a control device is also provided, including a memory and a processor, wherein the memory stores a plurality of instructions, and the processor loads the instructions from the memory to execute and implement the steps in the above method embodiments.

[0164] In some embodiments, a computer-readable storage medium is provided that stores a plurality of instructions adapted for loading by a processor to execute and implement the steps in the above method embodiments.

[0165] In some embodiments, a computer program product is provided, including computer instructions that, when executed by a processor, implement the steps in the above method embodiments.

[0166] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0167] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Although the descriptions of each embodiment in this application have different focuses, and the parts not described in detail in a certain embodiment can be referred to the relevant embodiments in other embodiments, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A vehicle parking system, wherein, The system comprises: a collection device for collecting environment data of a target parking area, the collection device being separable from a vehicle; the vehicle comprising a towing vehicle and a towed object connected to each other; and a control device in communication connection with the collection device, the control device being configured to generate a control instruction according to the environment data and control the vehicle to park according to the control instruction.

2. The vehicle parking system of claim 1, wherein, The collection device is a flying device or a mobile robot carrying a collection device.

3. The vehicle parking system according to claim 1 or 2, wherein, The collection device is one or more of a camera, a radar or a three-dimensional point cloud scanning device.

4. The vehicle parking system according to any one of claims 1-3, wherein, The control device comprises a first data calculator, the collection device being configured to collect real-time driving data of the vehicle when the vehicle is performing parking, and the first data calculator being configured to generate a parking correction instruction according to the real-time driving data.

5. The vehicle parking system of claim 4, wherein, The first data calculator is configured to determine a real-time driving state of the towing vehicle and the towed object according to the real-time driving data, and generate a parking correction instruction when the real-time driving state indicates that the vehicle does not meet a stability condition.

6. The vehicle parking system according to any one of claims 1-5, wherein, The control device is carried on the vehicle or in communication connection with the vehicle.

7. The vehicle parking system according to any one of claims 1-6, wherein, The environment data comprises at least one of terrain data, obstacle data and parking space size data.

8. The vehicle parking system according to claim 6 or 7, wherein, The control device further comprises a second data calculator configured to generate a map model according to the environment data, and / or the second calculator is configured to generate a parking path of the vehicle according to the environment data.

9. The vehicle parking system of claim 8, wherein, The second calculator is configured to obtain a driving restriction condition of the vehicle and generate a parking path of the vehicle according to the environment data under the constraint of the driving restriction condition.

10. The vehicle parking system according to claim 8 or 9, wherein, The towed object is provided with an intelligent controller configured to control the combination or separation of the towed object and external equipment according to the environment data.

11. A vehicle parking method, wherein, The method comprises: obtaining environment data of a target parking area collected by a collection device, wherein the collection device is separable from a vehicle; the vehicle comprises a towing vehicle and a towed object connected to each other; and generating a control instruction according to the environment data and controlling the vehicle to park according to the control instruction, so that the towed object is parked in the target parking area.

12. The vehicle parking method according to claim 11, wherein, The generation of the control instruction according to the environment data comprises: generating a parking path of the vehicle according to the environment data and generating a control instruction carrying the parking path; and The control of the vehicle to park according to the control instruction comprises: controlling the vehicle to park according to the parking path.

13. The vehicle parking method according to claim 11 or 12, wherein, The generation of the parking path of the vehicle according to the environment data comprises: obtaining three-dimensional point cloud data of the vehicle; and determining a parking path to the target parking area under a driving restriction condition according to the environment data and the three-dimensional point cloud data; wherein the driving restriction condition is used to ensure the stability of the vehicle during driving.

14. The vehicle parking method according to any one of claims 11 to 13, wherein, In the process of the vehicle parking according to the parking path, the method further comprises: obtaining real-time driving data collected by the collection device; determine a real-time driving state of the vehicle according to the real-time driving data; and update the remaining parking path in the parking path in response to the real-time driving state not satisfying a stability condition.

15. The vehicle parking method according to claim 14, wherein, The real-time driving data comprises at least one of pose data of the towing vehicle, pose data of the towed object, and obstacle data; and the determining of the real-time driving state of the vehicle according to the real-time driving data comprises at least one of: determining a distance between the vehicle and an obstacle according to the pose data of the towing vehicle, the pose data of the towed object, and the obstacle data; determining a lateral swing amplitude of the towed object relative to a driving direction according to the pose data of the towed object; and determining a swing angle of the towed object relative to a fixed reference according to the pose data of the towing vehicle and the pose data of the towed object. The determining of the parking path for driving to the target parking area under the driving limitation condition according to the environment data and the three-dimensional point cloud data comprises:

16. The vehicle parking method according to claim 13, wherein, establishing a three-dimensional map according to the environment data, and establishing a three-dimensional model of the vehicle according to the three-dimensional point cloud data; and determining a planning area in the three-dimensional map, and determining the parking path for driving to the target parking area under the driving limitation condition based on the three-dimensional model of the vehicle in the planning area. The driving parameters defined by the driving limitation condition comprise at least a turning radius, a reversing angle, and a safety distance; and the determining of the parking path for driving to the target parking area under the driving limitation condition based on the three-dimensional model of the vehicle comprises:

17. The vehicle parking method according to claim 16, wherein, dividing the planning area into a plurality of grids, determining a start grid where the vehicle is located and an end grid where the target parking area is located; determining a plurality of candidate grids based on the safety distance; determining a plurality of target grids in the plurality of candidate grids in sequence from the start grid based on the turning radius and the reversing angle; wherein a first target grid in the target grids is connected to the start grid, and a last target grid is connected to the end grid; and determining the parking path for the towing vehicle to drive to the target parking area based on the start grid, the plurality of target grids, and the end grid. The determining of the plurality of target grids in the plurality of candidate grids in sequence from the start grid comprises:

18. The vehicle parking method according to claim 17, wherein, determining candidate grids around the start grid in a current round, and respectively determining distance costs corresponding to the candidate grids; taking a candidate grid corresponding to a minimum distance cost as a start grid in a next round, and returning to the step of determining the candidate grids around the start grid for continuous execution until the candidate grid corresponding to the minimum distance cost is the end grid; and taking the candidate grid corresponding to the minimum distance cost in each round as a determined target grid. The method further comprises:

19. The vehicle parking method according to any one of claims 16-18, wherein, redetermining the target parking area in response to being unable to determine the parking path for driving to the target parking area under the driving limitation condition based on the three-dimensional model of the vehicle. The method further comprises:

20. The vehicle parking method according to any one of claims 11 to 18, wherein, ​ determining one or more idle parking areas within a given range in response to a search instruction for a parking area; and determining a target parking area from the one or more idle parking areas in response to a triggering operation for the one or more idle parking areas.

21. The vehicle parking method according to any one of claims 11 to 20, wherein, The method further comprises: controlling the towing vehicle to separate from the towed object to make the towed object park in the target parking area in response to the towed object being located in the target parking area.

22. The vehicle parking method according to any one of claims 11 to 21, wherein, The method further comprises, after the towed object parks in the target parking area: adjusting a pose of the towed object to make the towed object dock with a docking facility in the target parking area.

23. The vehicle parking method according to any one of claims 11 to 18, wherein, The three-dimensional point cloud data of the vehicle comprises three-dimensional point cloud data of a towing vehicle and three-dimensional point cloud data of a towed object; The three-dimensional point cloud data of the vehicle is obtained by: flying above the vehicle by a collection device to collect first point cloud data of a top surface of the vehicle; flying around the vehicle by the collection device according to a preset trajectory to collect second point cloud data of a side surface of the vehicle; and obtaining the three-dimensional point cloud data of the vehicle based on the first point cloud data and the second point cloud data.

24. The vehicle parking method according to claim 23, wherein, The flying around the vehicle by the collection device according to a preset trajectory to collect second point cloud data of a side surface of the vehicle comprises: determining at least one flight height and at least one flight angle; and flying around the vehicle by the collection device at each flight height at at least one flight angle to collect second point cloud data of a side surface of the vehicle.

25. A vehicle parking system wherein, The system comprises a collection device, a control device, a towing vehicle and a towed object; wherein the control device is configured to perform the steps of the vehicle parking method according to any one of claims 11-24.

26. A control device including the vehicle parking system according to claim 1, wherein, The system comprises a processor and a memory, and the memory stores a plurality of instructions; the processor loads the instructions from the memory to perform the steps of the vehicle parking method according to any one of claims 11-24.

27. A computer readable storage medium that applies the vehicle parking method of claim 11, wherein, The computer readable storage medium stores a plurality of instructions, and the instructions are adapted to be loaded by a processor to perform the steps of the vehicle parking method according to any one of claims 11-24.

28. A computer program product for applying the vehicle parking method of claim 11, wherein, The computer readable storage medium stores a plurality of instructions, and the instructions are adapted to be loaded by a processor to perform the steps of the vehicle parking method according to any one of claims 11-24. The computer readable storage medium stores a plurality of instructions, and the instructions are adapted to be loaded by a processor to perform the steps of the vehicle parking method according to any one of claims 11-24.

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