Parking method and apparatus, and intelligent driving device

Abstract

A parking method and apparatus, and an intelligent driving device. The method comprises: when a target parking space supports a vehicle in parking in a plurality of sub-areas in the target parking space, controlling a display apparatus to display a first component, the first component indicating that there are a plurality of sub-areas in the target parking space available for parking; in response to a first input for the first component, controlling the display apparatus to display a second component comprising a plurality of controls, each control of the plurality of controls corresponding to one sub-area of the plurality of sub-areas; and in response to a second input for a first control of the plurality of controls, controlling the vehicle to park in a first sub-area in the target parking space corresponding to the first control, the plurality of sub-areas comprising the first sub-area. The present solution can be applied to the field of intelligent vehicles, can prompt, without increasing the complexity of interface operations, specific sub-areas in a target parking space that support parking of vehicles, and, in response to operations of users on components, can display controls used for adjusting poses, thereby facilitating users in adjusting parking poses.

Description

Parking method, device and intelligent driving equipment

[0001] The present application claims priority to the Chinese patent application No. 202411096292.3, filed on August 9, 2024, and entitled "Parking method, device and intelligent driving equipment", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

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

[0003] With the development of intelligent driving functions of vehicles, the intelligent driving level is continuously improved, and the frequency of using intelligent driving functions by users in the process of using vehicles is also increasing. At present, various automatic parking (AP) functions have been developed to assist or help users to park. Among them, automatic parking refers to automatic parking of a vehicle into a parking space, that is, an intelligent driving system can semi-automatically or fully automatically help users to park the vehicle into a parking space. Automatic parking can include auto parking assist (APA), remote parking assist (RPA) and auto valet parking (AVP) and the like.

[0004] The current automatic parking function can adjust the pose of the vehicle when parking into a target parking space according to the control or operation of the user, for example, the vehicle can be controlled to park into the parking space at a position deviated to the left or right side of the parking space in response to the operation of the user, or the vehicle can be controlled to park into the parking space at a central position of the parking space in response to the operation of the user. However, the operation required for enabling the parking pose (such as the parking-in pose and / or the parking-stopping pose) adjustment function during the use of the automatic parking function by the user is relatively complex, which is not convenient for the user to use.

[0005] In view of this, a parking scheme for conveniently adjusting the parking pose by the user is urgently needed to be developed. SUMMARY

[0006] The present application provides a parking method, device and intelligent driving equipment, which can prompt the user whether the pose adjustment function is available without increasing the complexity of the interface operation. And in the case that the pose adjustment function is available, the control for adjusting the parking pose can be displayed in response to the operation of the user on the component, which is convenient for the user to adjust the parking pose.

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

[0008] The method comprises: controlling a display device to display a first component, the first component indicating that a plurality of sub-areas in a target parking space are available for parking; in response to a first input to the first component, controlling the display device to display a second component, the second component comprising a plurality of controls, each control in the plurality of controls corresponding to a sub-area in the plurality of sub-areas; and in response to a second input to a first control in the plurality of controls, controlling the intelligent driving device to park in a first sub-area corresponding to the first control in the target parking space, the plurality of sub-areas comprising the first sub-area.

[0009] In some implementations, the first component is displayed by the display device when the target parking space supports the intelligent driving device to park in a plurality of sub-areas in the target parking space.

[0010] In some implementations, the plurality of sub-areas comprises one or more sub-areas close to a boundary of the target parking space and a sub-area located at a center of the target parking space.

[0011] In some implementations, the display device displays the first component through a parking interface. Each sub-area can be understood as corresponding to a parking pose.

[0012] In the above technical solution, when the target parking space supports adjusting a parking pose and / or a parking pose, the first component displayed through the parking interface can prompt the user that the target parking space supports the intelligent driving device to park in which sub-areas, and the controls for adjusting the target parking sub-area can be displayed in response to the user's operation on the component, which helps to reduce the complexity of the interface and facilitates the user to adjust the parking pose of the intelligent driving device.

[0013] In combination with the first aspect, in some implementations of the first aspect, the first component further indicates a second sub-area in the plurality of sub-areas as a sub-area in the target parking space that is planned by the intelligent driving device to park.

[0014] In the above technical solution, the first component can also indicate the target parking sub-area planned (or recommended) by the intelligent driving device, so that the user can know the current parking pose planned by the intelligent driving device without performing any operation on the first component, which reduces the operation required by the user in the process of obtaining the parking pose related information, and helps to improve the parking efficiency.

[0015] With reference to the first aspect, in some implementations of the first aspect, the first component includes a plurality of elements, each element of the plurality of elements corresponding to a sub-region of the plurality of sub-regions; the plurality of elements includes a first element, the first element corresponding to the second sub-region, and a color of the first element being different from colors of remaining elements of the plurality of elements except the first element.

[0016] In the technical solution described above, the element corresponding to the parking pose recommended by the intelligent driving device is displayed in a different color from the element corresponding to the parking pose that is not selected, so that the element corresponding to the parking pose recommended by the intelligent driving device is more eye-catching, and the user can more easily obtain information about the parking pose currently planned by the intelligent driving device.

[0017] With reference to the first aspect, in some implementations of the first aspect, shapes of different elements of the plurality of elements are different.

[0018] In the technical solution described above, the different elements in different shapes are used to respectively indicate different sub-regions, so as to facilitate the user to distinguish which sub-regions in the current target parking space are available for parking and which target parking sub-region is recommended by the intelligent driving device.

[0019] With reference to the first aspect, in some implementations of the first aspect, a second control of the plurality of controls corresponds to the second sub-region, before the second input is detected, the second control is in a first state, and other controls of the plurality of controls except the second control are in a second state; the first state indicates that the sub-region corresponding to the control has been selected as the target parking sub-region, and the second state indicates that the sub-region corresponding to the control has not been selected as the target parking sub-region.

[0020] In some implementations, the second control can be one control or a plurality of controls.

[0021] With the technical solution described above, the user can quickly determine which control or controls correspond to the sub-region selected as the target parking sub-region, so as to facilitate the user to quickly determine whether to change the target parking sub-region and select which sub-region that is not selected as the target parking sub-region as the target parking sub-region.

[0022] With reference to the first aspect, in some implementations of the first aspect, the method further includes: in response to the second input, controlling the first control to switch from the second state to the first state, and controlling the second control to switch from the first state to the second state.

[0023] In the technical solution described above, the user can quickly determine which sub-region is reselected as the target parking sub-region, which helps to improve the parking efficiency.

[0024] With reference to the first aspect, in some implementations of the first aspect, the method further includes: in response to a third input directed to the first component, controlling the intelligent driving device to park in the second sub-region.

[0025] The third input is different from the first input, and the third input and the first input can be different types of inputs for the same control (or the same part) in the first component. For example, the first input for the first component can be long pressing the first component, and the third input for the first component can be single clicking the first component; or the first input for the first component can be double clicking the first component, and the third input for the first component can be long pressing the first component.

[0026] In the technical solution described above, when the third input is detected, the control for adjusting the parking pose is no longer displayed, and the intelligent driving device is directly controlled to drive and / or park into the target parking space, which helps to avoid increasing the complexity of the parking interface and reduce the cost of user learning and using the parking function.

[0027] With reference to the first aspect, in some implementations of the first aspect, the plurality of sub-areas includes a third sub-area, and the control of the intelligent driving device to park into the first sub-area corresponding to the first control in the target parking space includes: control of the intelligent driving device to park into the first sub-area from a first boundary position, the first boundary position being different from a second boundary position passed through by the intelligent driving device when parking into the third sub-area, the first boundary position and the second boundary position being different positions of a same boundary of the target parking space.

[0028] With reference to the first aspect, in some implementations of the first aspect, the first component includes a control part and an indication part, the control part being configured to control the display device to display the second component and start a flow of the intelligent driving device to park into the target parking space, and the indication part being configured to indicate the plurality of sub-areas; and the control of the display device to display the second component in response to the first input for the first component includes: control of the display device to display the second component in response to the first input for the control part.

[0029] In the technical solution described above, the component for starting the flow of the intelligent driving device to park into the target parking space prompts the user to know which poses are supported by the target parking space, which helps to display the available state of the pose adjustment function and display which sub-areas of the target parking space specifically support parking of the intelligent driving device without increasing the complexity of the interface operation.

[0030] With reference to the first aspect, in some implementations of the first aspect, the method further includes: when the target parking space only supports the intelligent driving device to park in one sub-area in the target parking space, controlling the display device to display only the control part for the first component.

[0031] In the technical solution, when the target parking space supports only one parking pose, the indication part of the first component is not displayed, so that the user can determine whether the target parking space supports multiple parking poses according to whether the first component includes the indication part, that is, the user can determine whether the pose adjustment function is available according to whether the first component includes the indication part. When the first component does not include the indication part, the user can easily determine that the parking pose is not adjustable, thereby saving the related operation for adjusting the pose.

[0032] In a second aspect, a parking device is provided, and the device includes a first processing unit configured to: control a display device to display a first component, the first component indicating that multiple sub-areas in a target parking space are available for parking; in response to a first input to the first component, control the display device to display a second component, the second component including multiple controls, each of the multiple controls corresponding to a sub-area of the multiple sub-areas; and in response to a second input to a first control of the multiple controls, control an intelligent driving apparatus to park in a first sub-area corresponding to the first control of the multiple sub-areas, the multiple sub-areas including the first sub-area.

[0033] With reference to the second aspect, in some implementations of the second aspect, the first component further indicates that a second sub-area of the multiple sub-areas is a sub-area planned by the intelligent driving apparatus to park in the target parking space.

[0034] With reference to the second aspect, in some implementations of the second aspect, the first component includes multiple elements, each of the multiple elements corresponding to a sub-area of the multiple sub-areas; the multiple elements include a first element, the first element corresponding to the second sub-area, and a color of the first element being different from colors of remaining elements of the multiple elements except the first element.

[0035] With reference to the second aspect, in some implementations of the second aspect, shapes of different elements of the multiple elements are different.

[0036] With reference to the second aspect, in some implementations of the second aspect, the device further includes a detection unit, a second control of the multiple controls corresponding to the second sub-area, before the detection unit detects the second input, the second control being in a first state, and other controls of the multiple controls being in a second state; wherein the first state indicates that the sub-area corresponding to the control has been selected as a target parking sub-area, and the second state indicates that the sub-area corresponding to the control has not been selected as the target parking sub-area.

[0037] With reference to the second aspect, in some implementations of the second aspect, the first processing unit is configured to: in response to the second input, control the first control to switch from the second state to the first state, and control the second control to switch from the first state to the second state.

[0038] With reference to the second aspect, in some implementations of the second aspect, the apparatus further includes a second processing unit configured to: control the intelligent driving device to park in the second sub-region when the detection unit detects the third input directed to the first component.

[0039] With reference to the second aspect, in some implementations of the second aspect, the plurality of sub-regions includes a third sub-region, and the apparatus further includes a third processing unit configured to: control the intelligent driving device to park in the first sub-region from a first boundary position, the first boundary position being different from a second boundary position that the intelligent driving device passes through when parking in the third sub-region, the first boundary position and the second boundary position being different positions of a same boundary of the target parking space.

[0040] With reference to the second aspect, in some implementations of the second aspect, the plurality of sub-regions includes one or more sub-regions close to a boundary of the target parking space and a sub-region located at a center of the target parking space.

[0041] With reference to the second aspect, in some implementations of the second aspect, the first component includes a control part and an indication part, the control part being configured to control the display apparatus to display the second component and to start a process of parking the intelligent driving device in the target parking space, and the indication part being configured to indicate the plurality of sub-regions, and the first processing unit is configured to: in response to the first input directed to the control part, control the display apparatus to display the second component.

[0042] With reference to the second aspect, in some implementations of the second aspect, the first processing unit is further configured to: when the target parking space only supports the intelligent driving device to park in one sub-region in the target parking space, control the display apparatus to display only the control part for the first component.

[0043] The third aspect provides a parking apparatus, which includes: a processor configured to execute a computer program stored in a memory to cause the apparatus to perform the method in any possible implementation of the first aspect.

[0044] With reference to the third aspect, in some implementations of the third aspect, the apparatus further includes a memory.

[0045] The fourth aspect provides a control method, which can be performed by an intelligent driving device, for example, can be performed by a computing platform of the intelligent driving device, or can also be performed by a chip or circuit for the intelligent driving device.

[0046] The method comprises: when the target parking space supports the intelligent driving device to park in multiple sub-areas in the target parking space, controlling the display device to display a first component, the first component comprising a control part and an indication part, the control part being configured to start a process of parking the intelligent driving device in the target parking space, and the display device is controlled to display a second component, the second component comprising multiple controls, each of the multiple controls corresponding to a sub-area of the multiple sub-areas; and the indication part is configured to indicate that there are multiple sub-areas in the target parking space that can be parked. Alternatively, when the target parking space only supports the intelligent driving device to park in one sub-area in the target parking space, the display device is controlled to only display the control part of the first component.

[0047] In the above technical solution, when the target parking space supports adjusting the parking pose and / or the parking pose, the indication part of the first component is displayed, and when the target parking space only supports one parking pose, the indication part of the first component is not displayed, so that the user can determine whether the target parking space supports multiple parking poses according to whether the first component comprises the indication part, and further determine whether the pose adjustment function is available. When the first component does not comprise the indication part, it is convenient for the user to determine that the parking pose is not adjustable, thereby saving the related operation for adjusting the pose. Furthermore, through the component for starting the process of parking the intelligent driving device in the target parking space, the user is prompted about which poses are supported by the target parking space, which helps to display the availability of the pose adjustment function without increasing the complexity of the interface operation.

[0048] In combination with the fourth aspect, in some implementations of the fourth aspect, the indication part further indicates that the second sub-area of the multiple sub-areas is a sub-area in the target parking space that is planned for the intelligent driving device to park.

[0049] In combination with the fourth aspect, in some implementations of the fourth aspect, the indication part comprises multiple elements, each element of the multiple elements corresponding to a sub-area of the multiple sub-areas; the multiple elements comprise a first element, the first element corresponding to the second sub-area, and the color of the first element being different from the color of the remaining elements other than the first element in the multiple elements.

[0050] In combination with the fourth aspect, in some implementations of the fourth aspect, the shapes of different elements of the multiple elements are different.

[0051] In combination with the fourth aspect, in some implementations of the fourth aspect, the method further comprises: in response to a first input to the control part, controlling the display device to display the second component; and in response to a second input to a first control of the multiple controls, controlling the intelligent driving device to park in a first sub-area corresponding to the first control in the target parking space, the multiple sub-areas comprising the first sub-area.

[0052] With reference to the fourth aspect, in some implementations of the fourth aspect, the second control of the plurality of controls corresponds to the second sub-region, before the second input is detected, the second control is in the first state, and the other controls of the plurality of controls are in the second state; wherein the first state indicates that the sub-region corresponding to the control has been selected as the target parking sub-region, and the second state indicates that the sub-region corresponding to the control has not been selected as the target parking sub-region.

[0053] With reference to the fourth aspect, in some implementations of the fourth aspect, the method further includes: in response to the second input, controlling the first control to switch from the second state to the first state, and controlling the second control to switch from the first state to the second state.

[0054] With reference to the fourth aspect, in some implementations of the fourth aspect, the method further includes: in response to a third input to the control part, controlling the intelligent driving device to park in the second sub-region.

[0055] With reference to the fourth aspect, in some implementations of the fourth aspect, the plurality of sub-regions includes a third sub-region, and the controlling the intelligent driving device to park in the first sub-region corresponding to the first control in the target parking space includes: controlling the intelligent driving device to park in the first sub-region from a first boundary position, the first boundary position being different from a second boundary position that the intelligent driving device passes through when parking in the third sub-region, the first boundary position and the second boundary position being different positions of a same boundary of the target parking space.

[0056] With reference to the fourth aspect, in some implementations of the fourth aspect, the plurality of sub-regions includes one or more sub-regions close to a boundary of the target parking space, and a sub-region located at a center of the target parking space.

[0057] The fifth aspect provides a control device, which includes: a processor configured to execute a computer program stored in the memory, so that the device executes the method in any possible implementation of the fourth aspect.

[0058] With reference to the fifth aspect, in some implementations of the fifth aspect, the device further includes a memory.

[0059] The sixth aspect provides an intelligent driving device, which includes the device in any possible implementation of the second aspect, the third aspect, or the fifth aspect.

[0060] With reference to the sixth aspect, in some implementations of the sixth aspect, the intelligent driving device is a vehicle.

[0061] In a seventh aspect, a computer program product is provided. The computer program product includes computer program codes, which, when executed on a computer or a processor, cause the computer or the processor to perform the method in any possible implementation of the first aspect or the fourth aspect.

[0062] It should be noted that the computer program codes can be stored in whole or in part on a storage medium, which can be packaged together with the processor or packaged separately from the processor.

[0063] In an eighth aspect, a computer readable medium is provided. The computer readable medium stores instructions, which, when executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect or the fourth aspect.

[0064] In a ninth aspect, a chip is provided. The chip includes a circuit configured to perform the method in any possible implementation of the first aspect or the fourth aspect.

[0065] The beneficial effects not described in the second aspect to the ninth aspect can be referred to the description in the first aspect, and will not be described here again. BRIEF DESCRIPTION OF DRAWINGS

[0066] FIG. 1 is a functional schematic block diagram of a vehicle according to an embodiment of the present application;

[0067] FIG. 2 is a schematic block diagram of an intelligent driving system architecture according to an embodiment of the present application;

[0068] FIG. 3 is a schematic flowchart of a parking method according to an embodiment of the present application;

[0069] FIG. 4 is a schematic diagram of a GUI according to an embodiment of the present application;

[0070] FIG. 5 is another schematic diagram of a GUI according to an embodiment of the present application;

[0071] FIG. 6 is a schematic diagram of an assembly according to an embodiment of the present application;

[0072] FIG. 7 is another schematic diagram of an assembly according to an embodiment of the present application;

[0073] FIG. 8 is still another schematic diagram of an assembly according to an embodiment of the present application;

[0074] FIG. 9 is still another schematic diagram of an assembly according to an embodiment of the present application;

[0075] FIG. 10 is still another schematic diagram of an assembly according to an embodiment of the present application;

[0076] FIG. 11 is still another schematic diagram of a GUI according to an embodiment of the present application;

[0077] FIG. 12 is yet another schematic diagram of a GUI provided by embodiments of the present application;

[0078] FIG. 13 is yet another schematic diagram of a GUI provided by embodiments of the present application;

[0079] FIG. 14 is yet another schematic flowchart of a parking method provided by embodiments of the present application;

[0080] FIG. 15 is a schematic block diagram of a parking device provided by embodiments of the present application;

[0081] FIG. 16 is yet another schematic block diagram of a parking device provided by embodiments of the present application. DETAILED DESCRIPTION

[0082] FIG. 1 is a functional block diagram of a vehicle provided by embodiments of the present application. As shown in FIG. 1, the vehicle 100 can include a perception system 120, a display device 130, and a computing platform 150, wherein the perception system 120 can include several sensors for sensing information of an environment around the vehicle 100. For example, the perception system 120 can include a positioning system, which can be a global navigation satellite system (GNSS), such as a global positioning system (GPS), a Beidou system, etc. For another example, the perception system 120 can also include one or more of an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0083] The display device 130 in the cabin of the vehicle 100 is mainly divided into two categories, the first category is a vehicle display screen, and the second category is a projection display screen, for example, a head up display (HUD). The vehicle display screen is a physical display screen, and is an important component of the in-vehicle infotainment system. Multiple display screens can be provided in the cabin, such as a digital instrument display screen, a center control screen, and the like. In some possible implementation manners, one or more of the vehicle display screens described above can be a human machine interface (HMI), for example, the center control screen can be an HMI. The head up display, also known as a head-up display system. It is mainly used to display driving information such as speed, navigation, etc. on a display device in front of the driver (such as the windshield). In order to reduce the driver's sight transfer time, avoid the pupil change caused by the driver's sight transfer, and improve the driving safety and comfort. The HUD, for example, includes a combiner-HUD (C-HUD) system, a windshield-HUD (W-HUD) system, and an augmented reality HUD (AR-HUD).

[0084] Some or all of the functionality of the vehicle 100 can be controlled by the computing platform 150. The computing platform 150 can include processors 151-15n, which are circuits that have the capability to process signals. In one implementation, the processors can be circuits that have the capability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), a digital signal processor (DSP), or the like. In another implementation, the processors can be circuits that implement functionality through fixed or reconfigurable logic, such as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD) such as a field programmable gate array (FPGA). In reconfigurable hardware circuits, the processors load configuration documents to implement the configuration of the hardware circuits, which can be understood as the processors loading instructions to implement the functionality of some or all of the units described above. Additionally, the processors can be hardware circuits designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), or the like. Additionally, the computing platform 150 can include a memory that stores instructions that can be called by some or all of the processors 151-15n to implement corresponding functionality.

[0085] The operation of the intelligent driving system can be controlled by the computing platform 150, which can include an advanced driving assistant system (ADAS) and an autonomous driving system (ADS). The intelligent driving system uses various sensors on the vehicle (including but not limited to laser radar, millimeter wave radar, camera, ultrasonic sensor, global positioning system, inertial measurement unit) to obtain information from the surroundings of the vehicle, and analyzes and processes the obtained information to realize functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring / alerting, etc., thereby improving the safety, automation level and comfort of vehicle driving.

[0086] At different levels of autonomous driving (or intelligent driving, a total of L0-L5 six levels), based on artificial intelligence algorithms and information obtained by multiple sensors, the intelligent driving system can realize different levels of autonomous driving assistance. The above-mentioned autonomous driving levels are based on the classification standard of the Society of Automotive Engineers (SAE). Among them, L0 is non-automation; L1 is driving assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. The tasks of monitoring the road conditions and reacting are completed by the driver and the system together at L1 to L3 levels, and the driver needs to take over the dynamic driving task. At L4 and L5 levels, the driver can completely change into a passenger role. At present, the functions that the intelligent driving system can realize mainly include but are not limited to adaptive cruise assistance, automatic emergency braking, automatic parking, blind spot monitoring, front intersection traffic warning / braking, rear intersection traffic warning / braking, front vehicle collision warning, lane departure warning, lane keeping assistance, rear vehicle collision warning, traffic sign recognition, traffic congestion assistance, highway assistance, etc. It should be understood that the above-mentioned various functions can have specific modes at different autonomous driving levels (L0-L5), and the higher the autonomous driving level, the more intelligent the corresponding mode. For example, for APA, the driver does not need to manipulate the steering wheel, but still needs to manipulate the accelerator and brake on the vehicle; for RPA, the driver can use a terminal (such as a mobile phone) to remotely control the parking of the vehicle outside the vehicle; for AVP, the vehicle can complete parking without a driver. In terms of corresponding autonomous driving levels, APA is approximately at the L1 level, RPA is approximately at the L2-L3 level, and AVP is approximately at the L4 level.

[0087] As described above, the operation required to enable the parking pose adjustment function during the use of the automatic parking function by the user is relatively complex and is not convenient for the user to use.

[0088] In view of this, the application provides a parking method, device and intelligent driving equipment. When the target parking space supports adjusting the pose of the vehicle in the target parking space, the parking interface can be controlled to display a component in a first state, and the component in the first state indicates that the pose of the vehicle in the target parking space is adjustable. When the target parking space does not support adjusting the pose of the vehicle in the target parking space, the parking interface can be controlled to display a component in a second state, and the component in the second state indicates that the pose of the vehicle in the target parking space is not adjustable. In this way, the user can be prompted whether the pose of the vehicle in the parking space is adjustable through the state of the component, and the interface operation is not complicated due to too many interface elements. Further, when the component in the first state is displayed on the parking interface, the component can also indicate the recommended parking pose of the intelligent driving system, so that the user can know the parking pose to be performed by the vehicle without expanding the component. The component can be a component for controlling the start of parking.

[0089] FIG. 2 shows a schematic block diagram of an intelligent driving system architecture provided by an embodiment of the application. As shown in FIG. 2, the system includes a perception module 210, a human-computer interaction module 220, a display module 230 and a control module 240. Specifically:

[0090] The perception module 210 can include one or more cameras in the perception system 120 shown in FIG. 1, or one or more radar sensors, for collecting environmental information of the area where the vehicle is located, such as information of parking lines, information of obstacles, etc. The perception module 210 can also process the collected environmental information to establish a world model including roads, obstacles, etc. for downstream modules (such as the human-computer interaction module 220 and the control module 240). The perception module 210 can send the information collected and / or determined to the control module 240.

[0091] The human-computer interaction module 220 can include one or more of the display devices 130 shown in FIG. 1, such as an HMI. The human-computer interaction module 220 can also include a sound emitting device (such as a speaker, a sound system, etc.) and a sound receiving device (such as a microphone). The display module 230 can include one or more of the display devices 130 shown in FIG. 1, and the display module 230 can display a parking interface. The human-computer interaction module 220 can receive instructions of the user (including voice instructions, instructions generated by a touch screen, etc.), and then control the change of the interface displayed by the display module 230 according to the instructions.

[0092] The control module 240 can include one or more processors in the computing platform 150 shown in FIG. 1, and be configured to plan a driving path for the vehicle according to the environment information obtained from the perception module 210. The control module 240 can also be configured to determine whether the target parking space supports the vehicle to park from the parking-in side of the target parking space in multiple poses according to the environment information obtained from the perception module 210. Further, in the case where the target parking space supports the vehicle to park in multiple poses, the control module 240 can control the display module 230 to display, in the parking interface, a component for adjusting the pose of the vehicle to park in the target parking space, which can include multiple controls, each of which is associated with a parking pose. In one example, in the case where the target parking space supports the vehicle to park in multiple poses, the control module 240 can control the vehicle to park in the target parking space in one of the multiple poses. In another example, when the parking interface displayed by the display module 230 includes the aforementioned multiple controls, the human-computer interaction module 220 can also be configured to determine the parking pose corresponding to a control according to an instruction generated by receiving a user selection of the control, and send information of the parking pose to the control module 240; further, the control module 240 controls the vehicle to park in the target parking space in the parking pose corresponding to the control.

[0093] It should be understood that the above modules are only one example, and in actual applications, the above modules can be added or deleted according to actual needs. For example, in the system architecture shown in FIG. 2, the human-computer interaction module 220 and the display module 230 can be combined into one module. For another example, the control module 240 can be subdivided into a planning control module and a display control module, wherein the planning control module is configured to plan a driving path for the vehicle, and the display control module is configured to control the content displayed by the display module 230.

[0094] The above introduces the system related to the embodiments of the present application, and the following introduces in detail the method executed based on the system.

[0095] FIG. 3 shows a schematic flowchart of a parking method provided by the embodiments of the present application. The method 300 can be executed by the vehicle 100 shown in FIG. 1, or also can be executed by the control module 240 shown in FIG. 2, and the method includes:

[0096] S301, when the target parking space supports the vehicle to park from different positions on the parking-in side of the target parking space, the control module 240 controls the display device to display component 1, which indicates multiple parkable positions on the parking-in side.

[0097] The target parking space can be understood as a parking space selected for the vehicle to park under the automatic parking function. That is, before S301 is executed, the vehicle 100 or the control module 240 has automatically selected the target parking space according to the relevant information of the parking lot, or the vehicle 100 or the control module 240 has determined the target parking space in response to the selection of the user.

[0098] In some scenarios, the target parking space has a large size (e.g., length and / or width), or there is no obstacle around the target parking space affecting the parking process. In this case, since there is no collision risk during the parking process of the vehicle into the target parking space, the vehicle can park into the target parking space from multiple positions (e.g., a center position, a left-biased position, or a right-biased position) on one side of the target parking space, and it can be determined that the target parking space supports the vehicle to park from different positions on the parking-in side of the target parking space.

[0099] In yet some scenarios, due to the limitation of obstacles around the target parking space, there is a collision risk during the parking process of the vehicle into the target parking space, or it is difficult to open the door of the vehicle after parking into the target parking space. In this case, the vehicle can only park into the target parking space from the center position on one side of the target parking space, and it can be determined that the target parking space only supports the vehicle to park from one position on the parking-in side of the target parking space; or the vehicle can also park into the target parking space from the left-biased position or the right-biased position, as well as the center position, on one side of the target parking space, and it can be determined that the target parking space supports the vehicle to park from different positions on the parking-in side of the target parking space.

[0100] It should be noted that the above two scenarios are only exemplary, and in actual implementation, other ways or conditions can also be used to determine whether the target parking space supports the vehicle to park from different positions on the parking-in side of the target parking space.

[0101] Taking the target parking space as a vertical parking space as an example, the target parking space is composed of two long sides and two short sides, and the parking-in side of the target parking space can be one of the two short sides. Exemplarily, each parkable position can be a position where the trajectory of the vehicle when parking into the target parking space intersects with the parking-in side, and the multiple parkable positions can include the center position, the left-biased position, and the right-biased position. Wherein, the trajectory of the vehicle can be the trajectory of the center point of the vehicle, and when the trajectory of the vehicle intersects with the center of the parking-in side, the parkable position is the center position; when the trajectory of the vehicle intersects with a point left-biased from the center of the parking-in side, the parkable position is the left-biased position; and when the trajectory of the vehicle intersects with a point right-biased from the center of the parking-in side, the parkable position is the right-biased position. The aforementioned "left-biased" or "right-biased" can be relative to the vehicle coordinate system (i.e., the positive direction of the y-axis is the left side of the vehicle, and the negative direction of the y-axis is the right side of the vehicle), and if the vector pointing to a point from the center of the parking-in side is in the same direction as the positive direction of the y-axis of the vehicle coordinate system associated with the vehicle, the point is a point left-biased from the center of the parking-in side; if the vector pointing to a point from the center of the parking-in side is in the opposite direction of the positive direction of the y-axis of the vehicle coordinate system associated with the vehicle, the point is a point right-biased from the center of the parking-in side.

[0102] In some implementations, the component 1 can be a component for starting the parking of the vehicle into the target parking space, or the component 1 can also be a component for adjusting the parking pose of the vehicle.

[0103] S302, when detecting the operation 1 of the user on the component 1, control the display device to display the component 2, the component 2 including a control corresponding to each of the plurality of parkable positions, each control being used to control the pose of the vehicle parking into the target parking space.

[0104] In an example, when the component 1 is a component for starting the vehicle to park into the target parking space, the component 1 can include a control part and an indication part, wherein the control part is used to control the vehicle to park into the target parking space in response to the user operation, and the display component 2; the indication part is used to indicate the plurality of parkable positions of the parking side. In this case, the operation 1 can be an operation of long pressing the control part of the component 1, or the operation 1 can also be an operation of double-clicking the control part of the component 1, or can also be other operations on the control part of the component 1.

[0105] In another example, when the component 1 is a component for adjusting the pose of the vehicle parking only, the operation 1 can be an operation of single-clicking the component 1, or can also be an operation of long pressing the component 1, or can also be other operations on the component 1.

[0106] S303, when detecting the operation 2 of the user on the control 1, control the vehicle to park into the target parking space from the parkable position corresponding to the control.

[0107] Exemplarily, the control 1 can be one of a plurality of controls respectively corresponding to each of the plurality of parkable positions. The operation 2 can be an operation of clicking the control 1, or can also be other operations on the control 1.

[0108] Exemplarily, taking an example that the plurality of parkable positions at least includes a position 1 and a position 2, the control 1 can be a control corresponding to the position 1, and the component 2 can further include a control 2 corresponding to the position 2.

[0109] In some implementations, the component 1 further indicates that the position 2 of the plurality of parkable positions is the parking position planned by the vehicle. In this case, the indication part of the component 1 includes a plurality of elements, each element corresponding to one parkable position, and the color of the element corresponding to the position 2 is different from the color of the element corresponding to the parkable position other than the position 2, so that the user can determine the parking position planned by the vehicle through the color of the element. Correspondingly, the controls corresponding to different parkable positions in the component 2 can include two states, for example, the control corresponding to the position 2 is in state 1, and the control corresponding to the parkable position other than the position 2 is in state 2. The state 1 indicates that the position corresponding to the control is the position planned by the vehicle to park, and the state 2 indicates that the position corresponding to the control is a selectable parking position. That is, before S303 is executed, the state of the control 1 is state 2.

[0110] In the case that the component 1 further indicates a position 2 in the plurality of parkable positions as the planned parking position of the vehicle, after performing S301, if detecting operation 3 of the component 1 by the user, the vehicle is controlled to park into the target parking space from the position 2. The operation 3 can be an operation of clicking the control part of the component 1, or the operation 3 can also be another operation of the control part different from the operation 1 in S302. It can be understood that when detecting the operation 3 of the component 1 by the user, the S302 and S303 can not be continued to be performed.

[0111] In some implementations, in the case that the component 1 displayed by the display device in S301 includes the control part and the indication part, when the target parking space only supports the vehicle to park from one position on the parking-in side of the target parking space, the display device is controlled to display the component 1 including only the control part.

[0112] In order to facilitate understanding of the parking method provided by the present application, the application scenarios and the graphic user interface (GUI) involved in the present application are described in detail below in combination with FIG. 4 to FIG. 11. The processing actions (such as control, response, etc.) or steps involved in FIG. 4 to FIG. 11 can be performed by the computing platform 150 shown in FIG. 1, or can also be performed by the system shown in FIG. 2. In FIG. 4 to FIG. 11, the display device is taken as an example of the center screen for description.

[0113] FIG. 4 shows a GUI provided by an embodiment of the present application. In an automatic parking scenario, and in a case where a target parking space has been selected, the GUI displayed by the center control screen can be as shown in (a) of FIG. 4. The interface includes a content display area 410 and a function bar 420. The content display area 410 includes the following status indication icons: a power icon, a Bluetooth function icon, a Wi-Fi function icon, and a cellular network signal icon, which are respectively used to indicate the login status of the vehicle machine system, the remaining power of the vehicle, the Bluetooth on and / or connection status of the vehicle, the Wi-Fi on status, and the cellular network signal strength. The content display area 410 also includes a parking control page 430 and a real-time environment information display page 440. The parking control page 430 is used to determine a target parking space in response to a user's operation, and / or to start an automatic parking function to control the vehicle to park into the target parking space in response to a user's operation. More specifically, in a case where the target parking space has been selected, the parking control page 430 includes a control 431 for starting the process of parking the vehicle into the target parking space. The real-time environment information display page 440 is used to display real-time environment information in the vehicle parking process. The real-time environment information can be a real-time picture captured by a vehicle camera, or can also be a virtual environment constructed according to information sensed by a sensing system of the vehicle. The virtual environment indicates the positions of obstacles around the vehicle and / or parking space information. The function bar 420 includes a home icon, a seat control, an air conditioner control, and a volume control, which are respectively used to control the content display area 410 to display a home page, to control the on-off of the seat ventilation and / or to adjust the air volume of the seat ventilation, to control the on-off of the air conditioner and / or to adjust the temperature and heating / cooling state of the air conditioner, to adjust the air circulation state in the vehicle, and to adjust the volume of the sound device.

[0114] More specifically, the interface shown in (a) of FIG. 4 can be displayed in a case where the target parking space only supports the vehicle to park in one position from the parking-in side of the target parking space. For example, in a case where the target parking space supports the vehicle to park in multiple parkable positions from the parking-in side of the target parking space, for example, in a case where the vehicle can park in the target parking space from a central position, a left-biased position and a right-biased position of the parking-in side respectively, an indicator 432 as shown in (b) of FIG. 4 can be displayed. The indicator 432 includes a circle in the middle, an arrow on the left side of the circle and pointing to the left, and an arrow on the right side of the circle and pointing to the right, corresponding to the central position, the left-biased position and the right-biased position respectively. In addition, the black circle in the indicator 432 represents the central position as the position planned by the vehicle to park in the target parking space; the white arrows represent that the left-biased position and the right-biased position are not the positions planned by the vehicle to park in the target parking space, but the left-biased position and the right-biased position are alternative positions to park in the target parking space. In addition, the interface shown in (b) of FIG. 4 further includes a schematic trajectory 433 indicating the planned trajectory of the vehicle parking in the target parking space from the parking-in side along the central position. It can be understood that any two of the central position, the left-biased position and the right-biased position can be regarded as examples of the aforementioned position 1 and position 2.

[0115] In some implementations, upon detecting that the control 431 is clicked, the vehicle can be controlled to park in the target parking space along the trajectory indicated by the schematic trajectory 433.

[0116] In some implementations, when it is detected that the control 431 is long-pressed or double-clicked, the display device can be controlled to display a parking control page as shown in (a) of FIG. 5, which includes a component 434 including controls A, B and C corresponding to the left-biased position, the center position and the right-biased position, respectively. Since the center position is the position planned by the vehicle for parking into the target parking space, the control B corresponding to the center position is in the selected state (i.e., an example of the aforementioned state 1), and the controls A and C are in the unselected state (i.e., an example of the aforementioned state 2). Further, when it is detected that the control C is clicked, it can be determined that the right-biased position is selected as the parking position of the vehicle when parking into the target parking space. In an example, when it is detected that the control C is clicked, a trajectory for the vehicle to park into the target parking space from the right-biased position is planned, e.g., a trajectory indicated by a schematic trajectory 435 shown in (b) of FIG. 5, and the vehicle is controlled to park into the target parking space along the trajectory indicated by the schematic trajectory 435. In another example, when it is detected that the control C is clicked, the display device can be controlled to display a parking control page as shown in (c) of FIG. 5, which includes a control box 436 including a “confirm” control and a “cancel” control. Further, when it is detected that the “confirm” control is clicked, the trajectory indicated by the schematic trajectory 435 is planned, and the vehicle is controlled to park into the target parking space along the trajectory indicated by the schematic trajectory 435; and when it is detected that the “cancel” control is clicked, the vehicle is still controlled to park into the target parking space along the parking position and trajectory planned by the vehicle originally.

[0117] It should be noted that the components shown in FIG. 4 and FIG. 5 are only illustrative examples. For example, the content display region 410 and the function bar 420 can display more or fewer icons. In an example, the content display region 410 can display some or all of the Bluetooth function icon, the Wi-Fi function icon and the cellular network signal icon according to the user’s settings, or not display the Bluetooth function icon, the Wi-Fi function icon and the cellular network signal icon. In another example, the function bar 420 can display other styles of icons according to the user’s settings of the state of the seat ventilation and the state of the air conditioner. In addition, the parking control page 430 can also display other controls, such as a control for controlling the panoramic surround view function to be turned on, etc.

[0118] It can be understood that the combination of the control 431 and the indicator 432 described above can be regarded as an example of the component 1 in the method 300. More specifically, the control 431 can be regarded as an example of the control part of the component 1, and the indicator 432 can be regarded as an example of the indication part of the component 1. The component 434 can be regarded as an example of the component 2 in the method 300, and the controls A to C in the component 434 can be regarded as examples of the plurality of controls included in the component 2.

[0119] Figs. 4 and 5 show the forms of the component 1 and the component 2 in the case where the parkable positions include the central position, the left-biased position and the right-biased position, and the central position is the position at which the vehicle plans to park to the target parking space. In actual implementation, the position at which the vehicle plans to park to the target parking space can also be other positions, or the parkable positions can also include other positions, as shown in Figs. 6 to 8.

[0120] Fig. 6 shows a schematic diagram of the component provided by an embodiment of the present application.

[0121] In the case where the parkable positions include the central position, the left-biased position and the right-biased position, and the left-biased position is the position at which the vehicle plans to park to the target parking space, the indicator of the component 1 can be as shown in (a) of Fig. 6, including a circle in the middle, an arrow on the left side of the circle and pointing to the left, and an arrow on the right side of the circle and pointing to the right, and the arrow pointing to the right is black, and the arrow pointing to the left and the circle are white. Further, upon detecting the operation 1 for the component 1, the component 2 displayed by the display device can be as shown in (b) of Fig. 6, including controls corresponding to the left-biased position, the central position and the right-biased position respectively, and the control corresponding to the left-biased position is in the selected state, and the controls corresponding to the central position and the right-biased position are in the unselected state.

[0122] In the case where the parkable positions include the central position, the left-biased position and the right-biased position, and the right-biased position is the position at which the vehicle plans to park to the target parking space, the indicator of the component 1 can be as shown in (c) of Fig. 6, including a circle in the middle, an arrow on the left side of the circle and pointing to the left, and an arrow on the right side of the circle and pointing to the right, and the arrow pointing to the left is black, and the arrow pointing to the right and the circle are white. Further, upon detecting the operation 1 for the component 1, the component 2 displayed by the display device can be as shown in (d) of Fig. 6, including controls corresponding to the left-biased position, the central position and the right-biased position respectively, and the control corresponding to the right-biased position is in the selected state, and the controls corresponding to the central position and the left-biased position are in the unselected state.

[0123] Fig. 7 shows still another schematic diagram of the component provided by an embodiment of the present application.

[0124] In the case that the parkable positions include the center position and the left-biased position, and the center position is the position at which the vehicle plans to park into the target parking space, the indicator of the component 1 can include the arrow on the left side and pointing to the left side and the circle on the right side as shown in (a) of FIG. 7, and the circle is black and the arrow pointing to the left side is white. Further, in the case that the operation 1 for the component 1 is detected, the component 2 displayed by the display device can include the controls corresponding to the left-biased position and the center position respectively as shown in (b) of FIG. 7, and the control corresponding to the center position is in the selected state and the control corresponding to the left-biased position is in the unselected state.

[0125] In the case that the parkable positions include the center position and the left-biased position, and the center position is the position at which the vehicle plans to park into the target parking space, the indicator of the component 1 can include the arrow on the left side and pointing to the left side and the circle on the right side as shown in (a) of FIG. 7, and the circle is black and the arrow pointing to the left side is white. Further, in the case that the operation 1 for the component 1 is detected, the component 2 displayed by the display device can include the controls corresponding to the left-biased position and the center position respectively as shown in (b) of FIG. 7, and the control corresponding to the center position is in the selected state and the control corresponding to the left-biased position is in the unselected state.

[0126] FIG. 8 shows still another schematic view of the component provided by the embodiments of the present application.

[0127] In the case that the parkable positions include the center position and the left-biased position, and the center position is the position at which the vehicle plans to park into the target parking space, the indicator of the component 1 can include the arrow on the left side and pointing to the left side and the circle on the right side as shown in (a) of FIG. 7, and the circle is black and the arrow pointing to the left side is white. Further, in the case that the operation 1 for the component 1 is detected, the component 2 displayed by the display device can include the controls corresponding to the left-biased position and the center position respectively as shown in (b) of FIG. 7, and the control corresponding to the center position is in the selected state and the control corresponding to the left-biased position is in the unselected state.

[0128] In the case that the parkable positions include the center position and the left-biased position, and the center position is the position at which the vehicle plans to park into the target parking space, the indicator of the component 1 can include the arrow on the left side and pointing to the left side and the circle on the right side as shown in (a) of FIG. 7, and the circle is black and the arrow pointing to the left side is white. Further, in the case that the operation 1 for the component 1 is detected, the component 2 displayed by the display device can include the controls corresponding to the left-biased position and the center position respectively as shown in (b) of FIG. 7, and the control corresponding to the center position is in the selected state and the control corresponding to the left-biased position is in the unselected state.

[0129] In some implementations, the component 1 can also not indicate the planned parking position of the vehicle, in which case each element in the indicator can be white, and each control in the component 2 can be in an unselected state, as shown in (a) and (b) of FIG. 9, respectively. Further, the position of the target parking space in which the vehicle is to be parked can be determined in response to a selection by the user.

[0130] The above description takes the component 1 for indicating multiple parkable positions on the parking-in side and the component 2 for controlling the position of the vehicle in the target parking space as examples in FIGS. 3-9. In actual implementation, the component 1 can also be used to indicate multiple parkable areas of the vehicle in the target parking space, and the component 2 can be used to control the parkable area of the vehicle in the target parking space. That is, the “center position”, “left bias position”, and “right bias position” shown in FIGS. 5-8 can respectively refer to a center area of the target parking space where the vehicle is parked, an area close to the left boundary of the target parking space where the vehicle is parked, and an area close to the right boundary of the target parking space where the vehicle is parked. When the component 1 and the component 2 are respectively used to indicate multiple parkable areas of the vehicle in the target parking space and to control the parkable area of the vehicle in the target parking space, the component 1 and the component 2 can further include controls corresponding to a front bias position and a rear bias position, which can be shown in (a) and (b) of FIG. 10, respectively. The front bias position can be an area close to the front boundary of the target parking space where the vehicle is parked, and the rear bias position can be an area close to the rear boundary of the target parking space where the vehicle is parked. The relationship between the parkable areas and the target area and the vehicle pose in the target parking space is shown in (d)-(h) of FIG. 10, where the solid line box is the boundary of the target parking space, the dashed line box is the parkable area, and the vehicle pose is shown with the vehicle head up. In this case, the parkable areas shown in (d)-(h) of FIG. 10 are in order the center area, the left bias area, the right bias area, the front bias area, and the rear bias area in the target parking space. It can be understood that when the vehicle shown in (d)-(h) of FIG. 10 is rotated 180° around the center of the vehicle (i.e., the vehicle tail up), the parkable areas shown in (d)-(h) of FIG. 10 become in order the center area, the right bias area, the left bias area, the rear bias area, and the front bias area in the target parking space.

[0131] It should be noted that the parking space involved in the present application can include any one of the following: a parking space determined according to a parking line, a drivable area determined according to the position of an obstacle, a mechanical parking space, or a drivable area defined by a user. For the parking space boundary involved in the present application, when the parking space is determined according to a parking line, the parking space boundary can be the parking line; when the parking space is a mechanical parking space, the parking space boundary can be the raised edge at the boundary of the mechanical parking space; and when the parking space is a drivable area defined by a user or a drivable area determined according to the position of an obstacle, the parking space boundary can be the boundary of the drivable area.

[0132] In some implementations, the planned parking position of the vehicle can include two or more positions, in which case the elements in the indicator corresponding to the two or more positions can be black, and the controls in the component 2 corresponding to the two or more positions can be in a selected state. For example, as shown in (c) of FIG. 10, the planned parking position of the vehicle includes a left-biased position and a front-biased position, the elements in the indicator corresponding to the left-biased position and the front-biased position are black, and the controls in the component 2 corresponding to the front-biased position and the left-biased position are in a selected state, and the other controls are in an unselected state.

[0133] In yet other implementations, the parking position determined in response to the user's selection can also include two or more positions, for example, the left-biased position and the front-biased position shown in (c) of FIG. 10. For example, if it is detected that the controls corresponding to the left-biased position and the front-biased position are clicked in this order, it can be determined that the left-biased position and the front-biased position are the parking positions selected by the user; if it is detected that the controls corresponding to the left-biased position, the front-biased position, and the left-biased position are clicked in this order, it can be determined that the front-biased position is the parking position selected by the user, i.e., after the control corresponding to a certain position is selected, if it is detected that the control is clicked again, the selected state of the control can be canceled.

[0134] In the above FIGS. 4-10, the component 1 includes the control 431 and the indicator 432 is taken as an example, in some scenarios, the indicator 432 can be regarded as an example of the component 1 in the method 300, in which case the display device can be controlled to display the component 2 in response to the user's operation of clicking the indicator 432.

[0135] It should be noted that in the above embodiments, the elements in white and black are used to indicate the planned parking position of the vehicle and the non-selected parking position, respectively, and other colors can be used to distinguish different types of elements in actual implementation. The aforementioned colors can also be associated with light, for example, an element corresponding to the planned parking position of the vehicle can be highlighted, and an element corresponding to the non-selected parking position can be non-highlighted. In addition, in the above embodiments, the elements in circular and arrow shapes are used to indicate different parking positions, respectively, and other shapes or forms of elements can also be used to indicate different parking positions in actual implementation.

[0136] In some implementations, when the vehicle parks into the target parking space, the vehicle can park in the head-in manner (i.e., the head of the vehicle parks into the parking space first) or the tail-in manner (i.e., the tail of the vehicle parks into the parking space first), and the aforementioned control 431 can also be used to adjust the manner in which the vehicle parks into the target parking space. For example, as shown in (a) of FIG. 11, an icon 1101 indicates the position of the target parking space, and the current manner in which the vehicle plans to park into the target parking space is the tail-in manner, and a parking trajectory is shown as a schematic trajectory 1102. When it is detected that the control 431 is long-pressed, the display device displays an interface as shown in (b) of FIG. 11, which includes a control box 1103 including a “head-in” control and a “tail-in” control. When it is detected that the “head-in” control is clicked, the trajectory in which the vehicle parks into the target parking space is re-planned, which is used to make the head of the vehicle park into the target parking space first, and then the vehicle parks into the target parking space along the trajectory. For example, during the process of controlling the vehicle to park into the target parking space, the display device can display an interface as shown in (c) of FIG. 10, in which an icon 1104 corresponding to the target parking space indicates that the current manner in which the vehicle plans to park into the target parking space is the head-in manner, and the interface includes a schematic trajectory 1105. When the vehicle travels along the trajectory indicated by the schematic trajectory 1105, the head of the vehicle can park into the target parking space first.

[0137] In the above embodiments, the vehicle-mounted display device is used to display the relevant information, and the parking interface displayed by the electronic device associated with the vehicle can also include the components and controls in the above embodiments in actual implementation. The electronic device can include various handheld devices, wearable devices, computing devices or other processing devices connected to a wireless modem with wireless communication function. For example, the electronic device can be a watch, a mobile phone, a tablet computer, etc. The following describes the electronic device as a mobile phone.

[0138] FIG. 12 shows a schematic diagram of a GUI displayed by a mobile phone according to an embodiment of the present application. As shown in (a) of FIG. 12, after the target parking space has been selected, the display screen of the mobile phone can display a dialog box 1201, which includes a control 1203 and an indicator 1202. Upon detecting that the control 1203 is long-pressed, the display screen of the mobile phone can display the interface shown in (b) of FIG. 12, which includes a component 1205. Upon detecting that the "rightward position" control in the component 1205 is clicked, the parking trajectory is adjusted according to the rightward position. For example, the parking trajectory is adjusted from the trajectory indicated by the schematic trajectory 1204 shown in (a) of FIG. 12 to the trajectory indicated by the schematic trajectory 1206 shown in (c) of FIG. 12. In addition, during the process of parking the vehicle into the target parking space, the display screen of the mobile phone can display the interface shown in (c) of FIG. 12, which includes a dialog box 1207, which includes a control 1208 for controlling the vehicle to pause the parking process. It should be noted that more details about the indicator 1202, the control 1203, and the component 1205 can be found in the descriptions of the indicator 432, the control 431, and the component 434, respectively, in the foregoing embodiments, which will not be repeated here.

[0139] For example, the electronic device being associated with the vehicle can include that the account of the electronic device and the vehicle are the same; or the account of the electronic device and the vehicle are different, but both are the account of an authorized user of the vehicle; or the electronic device is authorized by an authorized user of the vehicle, and accordingly, an association relationship is established between the electronic device and the vehicle. The electronic device being associated with the vehicle can also include that the electronic device and the vehicle can transmit information through mobile communication technologies such as global system of mobile communication (GSM), general packet radio service (GPRS), long term evolution (LTE), etc., such as that the electronic device and the vehicle transmit information through a cloud server; or the electronic device and the vehicle can transmit information through wireless short-distance communication technologies such as Bluetooth (BT) communication technology, radio frequency identification (RFID) communication technology, etc.

[0140] The method of adjusting the parking pose before starting the parking process is described in detail in the foregoing embodiments. In actual implementation, the foregoing method can also be applied to the process of driving or parking into the target parking space, or can also be applied to after the vehicle has parked in the parking space.

[0141] In some implementations, as shown in (a) of FIG. 13, during the process of controlling the vehicle to drive or park into the target parking space, the parking interface displayed by the display device includes a control 1301 for controlling the parking process to be paused. When detecting that the control 1301 is clicked, the parking is paused (e.g., the speed of the vehicle is reduced to zero), and the display device is controlled to display an interface as shown in (b) of FIG. 13, which includes a control 1302 for controlling the vehicle to continue parking and an indicator. For example, when detecting that the control 1302 is clicked, the vehicle is controlled to continue parking; when detecting that the control 1302 is long-pressed or double-clicked, the display device is controlled to display an interface as shown in (c) of FIG. 13, which includes a component 1303 including multiple controls for adjusting the parking position or the parking pose of the vehicle. In an example, when detecting that a control in the component 1303 other than the selected control is clicked, the parking trajectory is planned according to the parking position corresponding to the clicked control, and the vehicle is controlled to park along the planned parking trajectory. For more details, reference can be made to the description of the corresponding part of FIG. 5, which will not be described here. In another example, when detecting that a control in the component 1303 other than the selected control is clicked, a “confirm” control and a “cancel” control can be popped up as shown in (c) of FIG. 5. When detecting that the “confirm” control is clicked, the parking trajectory is planned according to the parking position corresponding to the clicked control, and the vehicle is controlled to park along the planned parking trajectory.

[0142] In yet some implementations, after parking into the parking space and before the vehicle is powered off, the display device can be controlled to display the indicator as described in the foregoing examples. When detecting that the indicator is clicked, the display device is controlled to display multiple controls for adjusting the parking position or the parking pose of the vehicle, so as to provide the user with a way to adjust the pose of the vehicle in the parking space.

[0143] It should be noted that the target parking space in the foregoing examples is taken as a vertical parking space for example. In actual implementation, the parking scheme provided in the present application can also be applied to a parallel parking space or an inclined parking space. In addition, the operations (e.g., clicking, single-clicking, long-pressing, double-clicking, etc.) on the controls in the foregoing examples are only exemplary. In actual implementation, the operations on the controls can also be other operations.

[0144] FIG. 14 shows another exemplary flowchart of the intelligent driving method provided in the embodiments of the present application. The method 1400 can be applied to the vehicle shown in FIG. 1, or the method can be executed by the system shown in FIG. 2. More specifically, the method includes the following steps:

[0145] S1410, the display device is controlled to display a first component, which indicates that multiple sub-areas exist in the target parking space and are available for parking.

[0146] In some embodiments, before S1410 is performed, it is determined that the target parking space supports the intelligent driving device to park in multiple sub-areas in the target parking space. Illustratively, the intelligent driving device can include the vehicle in the foregoing embodiments, or the intelligent driving device can also be other vehicles. The specific implementation of determining whether the target parking space supports the intelligent driving device to park in multiple sub-areas in the target parking space can refer to the description in S301, which will not be repeated here.

[0147] In some embodiments, the multiple sub-areas include one or more sub-areas close to the boundary of the target parking space, and a sub-area located at the center of the target parking space. Illustratively, each sub-area can include a parkable area in the foregoing embodiments.

[0148] In some embodiments, the first component includes a control part and an indication part, the control part is configured to control the display device to display the second component and start a process of parking the intelligent driving device into the target parking space, and the indication part is configured to indicate the multiple sub-areas. Illustratively, the first component can be component 1 in method 300, and more specifically, the first component can include the control 431 and the indicator 432 in the foregoing embodiments, wherein the control 431 can be regarded as an example of the control part, and the indicator 432 can be regarded as an example of the indication part.

[0149] In the case where the first component includes the control part and the indication part, when the target parking space only supports the intelligent driving device to park in one sub-area in the target parking space, the display device is controlled to display only the control part for the first component. This can be specifically shown in (a) of FIG. 4.

[0150] In some embodiments, the first component can be the indicator 432 in the foregoing embodiments. In this case, when the target parking space only supports the intelligent driving device to park in one sub-area in the target parking space, the display device does not display the first component.

[0151] In some embodiments, the first component further indicates a second sub-area in the multiple sub-areas as a sub-area in the target parking space that is planned by the intelligent driving device to park. Illustratively, the way in which the first component indicates the second sub-area as a sub-area in the target parking space that is planned by the intelligent driving device to park can refer to the description of FIGS. 6 to 8 and related parts, that is, the parking position planned by the vehicle is indicated by the black element in the indicator, which can be regarded as some examples in which the first component indicates the second sub-area as the target parking area.

[0152] More specifically, the first component includes a plurality of elements, each element of the plurality of elements corresponding to one sub-region of the plurality of sub-regions; the plurality of elements includes a first element, the first element corresponding to the second sub-region, and a color of the first element being different from colors of remaining elements of the plurality of elements except the first element. Exemplarily, the first element can be a black element in the indicators shown in FIGS. 6-10.

[0153] In some implementations, shapes of different elements of the plurality of elements are different. Each element of each shape represents one sub-region. The correspondence between elements and sub-regions can refer to the description about the relationship between elements and parking positions in FIGS. 6-10, which will not be repeated here.

[0154] In some implementations, the method further includes: in response to a third input for the first component, controlling the intelligent driving device to park in the second sub-region. Exemplarily, the third input can include operation 3 in method 300.

[0155] S1420, in response to a first input for the first component, controlling the display device to display a second component, the second component including a plurality of controls, each control of the plurality of controls corresponding to one sub-region of the plurality of sub-regions.

[0156] Exemplarily, the first input can include operation 1 in method 300, and the second component can be component 2 in method 300. More specifically, the second component can include component 434 in the foregoing embodiments, and one control in component 434 can be regarded as an example of one control in the second component.

[0157] S1430, in response to a second input for a first control of the plurality of controls, controlling the intelligent driving device to park in a first sub-region corresponding to the first control in the target parking space, the plurality of sub-regions including the first sub-region.

[0158] Exemplarily, the second input can include operation 2 in method 300, and the first control can be control 1 in method 300. More specifically, when the first control is the “right-biased position” control in component 434, the first sub-region can be a sub-region close to the right boundary of the vehicle in the target parking space; when the first control is the “left-biased position” control in component 434, the first sub-region can be a sub-region close to the left boundary of the vehicle in the target parking space.

[0159] In some implementations, a second control of the plurality of controls corresponds to the second sub-region, before detecting the second input, the second control is in a first state, and other controls of the plurality of controls except the second control are in a second state; wherein the first state indicates that the sub-region corresponding to the control has been selected as the target parking sub-region, and the second state indicates that the sub-region corresponding to the control has not been selected as the target parking sub-region.

[0160] Exemplarily, the first state can be state 1 in the method 300, and more particularly, can be the selected state in FIGS. 6-8 and 10. The second state can be state 2 in the method 300, and more particularly, can be the unselected state in FIGS. 6-10.

[0161] In some implementations, the method further includes, in response to the second input, controlling the first control to switch from the second state to the first state, and controlling the second control to switch from the first state to the second state.

[0162] Exemplarily, taking the first control as the control C shown in (a) of FIG. 5 and the second control as the control B shown in (a) of FIG. 5 as an example, before the second input is detected, the states of the first control and the second control can be as shown in (a) of FIG. 5, and when the second input is detected, the states of the first control and the second control can be as shown in (c) of FIG. 5.

[0163] In some implementations, the plurality of sub-areas includes a third sub-area, and S1430 can be refined as: controlling the intelligent driving device to park into the first sub-area from a first boundary position, the first boundary position being different from a second boundary position that the intelligent driving device passes through when parking into the third sub-area, the first boundary position and the second boundary position being different positions of a same boundary of the target parking space.

[0164] In some scenarios, the third sub-area and the second sub-area can be the same sub-area. The first boundary position can be position 1 in the method 300, and the second boundary position can be position 2 in the method 300. The specific implementation of controlling the intelligent driving device to park into the first sub-area from the first boundary position can be referred to the description of the corresponding part of (b) of FIG. 5, which is not repeated here.

[0165] The parking method provided by the embodiments of the present application can prompt the user to know which vehicles are supported to park in which sub-area of the target parking space through the first component displayed by the parking interface when the target parking space supports adjusting the parking pose and / or the parking pose. When the target parking space only supports one parking pose, the first component (such as the first component being an indicator) is not displayed or the indicating part of the first component is not displayed. In this way, the user can determine whether the target parking space supports multiple parking poses according to the state of the first component. Moreover, when the target parking space supports adjusting the parking pose and / or the parking pose, the control for adjusting the target parking sub-area can be displayed in response to the operation of the user on the component, which helps to reduce the complexity of the interface and facilitate the user to adjust the parking pose of the intelligent driving device.

[0166] In each of the embodiments of the present application, the terms and / or descriptions between the embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0167] The parking method provided by the embodiments of the present application is described in detail above in combination with FIG. 1 to FIG. 14. The device provided by the embodiments of the present application will be described in detail below in combination with FIG. 15 and FIG. 16. It should be understood that the description of the device embodiments corresponds to the description of the method embodiments, and therefore, the content not described in detail can be referred to the method embodiments described above, which will not be described here again for the sake of brevity.

[0168] FIG. 15 shows a schematic block diagram of the parking device 2000 provided by the embodiments of the present application, which can include units for performing the methods shown in FIG. 3 and FIG. 14. And each unit in the device 2000 is used to implement the corresponding flow of the method embodiments described above. The device 2000 includes an acquisition unit 2010, which can be used to implement the corresponding data acquisition or transceiving function, and the acquisition unit 2010 can also be used to detect various operations of the user for the display device. When the acquisition unit 2010 is used to detect various operations of the user for the display device, the acquisition unit 2010 can also be referred to as a detection unit. The device 2000 further includes a first processing unit 2020, and optionally, the device 2000 can further include a second processing unit 2030. The first processing unit 2020 and the second processing unit 2030 can be used to implement the corresponding processing function, and more specifically, the first processing unit 2020 can be used to implement the processing function related to the control of the display device, and the second processing unit 2030 can be used to implement the processing function related to the vehicle trajectory planning and vehicle motion control.

[0169] Optionally, the device 2000 further includes a storage unit, which can be used to store instructions and / or data, and the first processing unit 2020 and the second processing unit 2030 can read the instructions and / or data in the storage unit to enable the device to implement the related actions in each of the foregoing method embodiments.

[0170] It should be understood that the specific process of each unit performing the corresponding steps described above has been described in detail in the method embodiments described above, and therefore, will not be described here again for the sake of brevity.

[0171] It should also be understood that the device 2000 here is embodied in the form of functional units. The term "module" or "unit" here can refer to an application-specific ASIC, an electronic circuit, a processor (for example, a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combination logic circuit, and / or other suitable components that support the described functions.

[0172] The apparatus of each of the above solutions has the function of implementing the corresponding steps performed by the computing platform 150 in the above method. The function can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions; for example, the acquisition unit 2010 can be replaced by a transceiver, and other units, such as the first processing unit 2020, the second processing unit 2030, etc., can be replaced by a processor, for performing the relevant processing operations in each method embodiment.

[0173] Exemplarily, the acquisition unit 2010, the first processing unit 2020, and the second processing unit 2030 can be arranged in the vehicle 100 shown in FIG. 1, or can also be arranged in the system shown in FIG. 2, and more specifically, the above acquisition unit 2010, the first processing unit 2020, and the second processing unit 2030 can be arranged in the control module 240. Exemplarily, the operations performed by the above acquisition unit 2010 and the processing unit 2020 can be performed by one processor, or can also be performed by different processors. In a specific implementation process, the above one or more processors can be the processors arranged in the vehicle 100 shown in FIG. 1; or the above apparatus 2000 can be a chip arranged in the vehicle 100.

[0174] In a specific implementation process, each unit in the above apparatus can be integrated together or can also be independently implemented. In one implementation, these units are integrated together to be implemented in the form of a system on a chip (SoC).

[0175] FIG. 16 is another schematic block diagram of a control apparatus provided by an embodiment of the present application. The control apparatus 2100 shown in FIG. 16 can include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, the transceiver 2120, and the memory 2130 are connected through an internal connection path. The memory 2130 is configured to store instructions, and the processor 2110 is configured to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Optionally, the memory 2130 can be coupled to the processor 2110 through an interface, or can be integrated with the processor 2110.

[0176] It should be noted that the transceiver 2120 can include, but is not limited to, a transceiving device such as an input / output interface, to implement the communication between the apparatus 2100 and other devices or communication networks.

[0177] The memory 2130 can be volatile memory and / or nonvolatile memory. In particular, the nonvolatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically EPROM (EEPROM), or flash memory. The volatile memory can be random access memory (RAM). For example, the RAM can be used as external cache memory. As examples, without limitation, the RAM can include a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0178] The transceiver 2120 uses a transceiving device such as, but not limited to, a transceiver to implement communication between the device 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above embodiments.

[0179] The embodiments of the present application also provide an intelligent driving device, which includes the device 2000 or the device 2100 in the above embodiments.

[0180] The intelligent driving device related to the embodiments of the present application can include a road vehicle, a water vehicle, an air vehicle, an industrial device, an agricultural device, or an entertainment device, etc. For example, the intelligent driving device can be a vehicle, which is a general concept of a vehicle, and can be a vehicle (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying vehicle, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a mower, a harvester, etc.), an entertainment device, a toy vehicle, etc. The embodiments of the present application do not specifically limit the type of the vehicle.

[0181] The embodiment of the present application further provides a computer program product, which comprises computer program codes, and when the computer program codes are run on a computer, the computer program codes make the computer implement the method in each embodiment of the present application.

[0182] The embodiment of the present application further provides a computer readable storage medium, which stores computer instructions, and when the computer instructions are run on a computer, the computer instructions make the computer implement the method in each embodiment of the present application.

[0183] The embodiment of the present application further provides a chip, which comprises a circuit, and is used for executing the method in each embodiment of the present application.

[0184] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, and will not be described here.

[0185] In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" in the present application is a description of the association relationship of the associated object, which means that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In the present application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or the like means any combination of these items, including any combination of single item or multiple items. For example, at least one of a, b or c can represent: a, b, c, a-b, a-c, b-c or a-b-c, wherein a, b and c can be single or multiple.

[0186] In the embodiments of the present application, the prefix words such as "first", "second" are only used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of ordinal words such as ordinal words in the embodiments of the present application does not limit the described objects, and the description of the described objects should be referred to the description of the context in the claims or embodiments, and should not be limited by the use of such prefix words.

[0187] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the division of the above-described device embodiments is only a logical function division, and there can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0188] In each embodiment of the present application, the terms and / or descriptions between different embodiments have consistency and can be mutually referred to if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0189] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0190] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0191] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A parking method characterized by, The method comprises: controlling a display device to display a first component, the first component indicating that a plurality of sub-areas in a target parking space are available for parking; in response to a first input for the first component, controlling the display device to display a second component, the second component comprising a plurality of controls, each control of the plurality of controls corresponding to a sub-area of the plurality of sub-areas; in response to a second input for a first control of the plurality of controls, controlling an intelligent driving apparatus to park in a first sub-area corresponding to the first control in the target parking space, the plurality of sub-areas comprising the first sub-area.

2. The method of claim 1, wherein, The first component further indicates that a second sub-area of the plurality of sub-areas is a sub-area in the target parking space that is planned by the intelligent driving apparatus for parking.

3. The method of claim 2, wherein, The first component comprises a plurality of elements, each element of the plurality of elements corresponding to a sub-area of the plurality of sub-areas; The plurality of elements comprises a first element corresponding to the second sub-area, a color of the first element being different from a color of remaining elements of the plurality of elements other than the first element.

4. The method of claim 3, wherein, Different elements of the plurality of elements have different shapes.

5. The method according to claim 3 or 4, characterized in that, A second control of the plurality of controls corresponds to the second sub-area, before the second input is detected, the second control being in a first state, and other controls of the plurality of controls other than the second control being in a second state; wherein the first state indicates that the sub-area corresponding to the control has been selected as a target parking sub-area, and the second state indicates that the sub-area corresponding to the control has not been selected as the target parking sub-area.

6. The method of claim 5, wherein, The method further comprises: in response to the second input, controlling the first control to switch from the second state to the first state, and controlling the second control to switch from the first state to the second state.

7. The method according to any one of claims 2 to 5, characterized in that, The method further comprises: in response to a third input for the first component, controlling the intelligent driving apparatus to park in the second sub-area.

8. The method according to any one of claims 1 to 7, characterized in that, The plurality of sub-areas comprises a third sub-area, and the controlling the intelligent driving apparatus to park in the first sub-area corresponding to the first control in the target parking space comprises: controlling the intelligent driving apparatus to park in the first sub-area from a first boundary position, the first boundary position being different from a second boundary position that the intelligent driving apparatus passes through when parking in the third sub-area, the first boundary position and the second boundary position being different positions of a same boundary of the target parking space.

9. The method according to any one of claims 1 to 8, characterized in that, The plurality of sub-areas comprises one or more sub-areas close to a boundary of the target parking space, and a sub-area located in a center of the target parking space.

10. The method according to any one of claims 1 to 9, characterized in that, The first component comprises a control part and an indication part, the control part being used for controlling the display device to display the second component, and starting a flow of the intelligent driving apparatus to park in the target parking space; The indication part is used for indicating the plurality of sub-areas; The controlling the display device to display the second component in response to the first input for the first component comprises: in response to the first input for the control part, controlling the display device to display the second component.

11. The method of claim 10, wherein, The method further comprises: When the target parking space only supports the intelligent driving device to park in a sub-region in the target parking space, the display device is controlled to display only the control part for the first component.

12. A parking device, characterized in that The first processing unit is configured to: control the display device to display a first component, the first component indicating that multiple sub-regions in a target parking space are available for parking; in response to a first input for the first component, control the display device to display a second component, the second component including multiple controls, each of the multiple controls corresponding to a sub-region of the multiple sub-regions; in response to a second input for a first control of the multiple controls, control the intelligent driving device to park in a first sub-region corresponding to the first control in the target parking space, the multiple sub-regions including the first sub-region.

13. The apparatus of claim 12, wherein, The first component further indicates that a second sub-region of the multiple sub-regions is a sub-region in the target parking space that is planned by the intelligent driving device for parking.

14. The apparatus of claim 13, wherein, The first component includes multiple elements, each of the multiple elements corresponding to a sub-region of the multiple sub-regions; The multiple elements include a first element corresponding to the second sub-region, and a color of the first element is different from colors of remaining elements of the multiple elements except the first element.

15. The apparatus of claim 14, wherein, Different elements of the multiple elements have different shapes.

16. The apparatus of claim 14 or 15, wherein, The device further includes a detection unit, a second control of the multiple controls corresponds to the second sub-region, before the detection unit detects the second input, the second control is in a first state, and other controls of the multiple controls except the second control are in a second state; wherein the first state indicates that the sub-region corresponding to the control has been selected as a target parking sub-region, and the second state indicates that the sub-region corresponding to the control has not been selected as the target parking sub-region.

17. The apparatus of claim 16, wherein, The first processing unit is configured to: in response to the second input, control the first control to switch from the second state to the first state, and control the second control to switch from the first state to the second state.

18. The apparatus of any one of claims 13-16, wherein, The device further includes a second processing unit configured to: in response to a third input for the first component, control the intelligent driving device to park in the second sub-region.

19. The apparatus of any one of claims 12-17, wherein, The multiple sub-regions include a third sub-region, and the device further includes a third processing unit configured to: control the intelligent driving device to park in the first sub-region from a first boundary position, the first boundary position being different from a second boundary position that the intelligent driving device passes through when parking in the third sub-region, the first boundary position and the second boundary position being different positions of a same boundary of the target parking space.

20. The apparatus of any of claims 12-19, wherein, The multiple sub-regions include one or more sub-regions close to a boundary of the target parking space and a sub-region located at a center of the target parking space.

21. The apparatus of any one of claims 12-20, wherein, The first component includes a control part and an indication part, the control part is configured to control the display device to display the second component and start a flow of the intelligent driving device parking in the target parking space, and the indication part is configured to indicate the multiple sub-regions. The first processing unit is configured to control the display device to display the second component in response to the first input to the control part.

22. The apparatus of claim 21, wherein, The first processing unit is further configured to: When the target parking space only supports the intelligent driving device to park in a sub-region of the target parking space, control the display device to display only the control part for the first component.

23. A parking device, characterized in that Comprise: A processor configured to execute a computer program stored in a memory to cause the apparatus to perform the method of any one of claims 1-11.

24. The apparatus of claim 23, wherein, The apparatus further comprises the memory.

25. An intelligent driving device, comprising: Comprise the apparatus of any one of claims 12-24.

26. A computer-readable storage medium, characterized in that, An instruction stored thereon, when executed by a processor, implements the method of any one of claims 1-11.

27. A computer program product, characterised in that, The computer program product comprises: computer program code, when the computer program code is run by a processor, implements the method of any one of claims 1-11.

28. A chip, characterized by The chip comprises a circuit, and the circuit is configured to execute the method of any one of claims 1-11.

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