Parking method, apparatus, electronic device, vehicle and readable storage medium

Abstract

The present application provides a parking method, an apparatus, an electronic device, a vehicle, and a readable storage medium. The parking method comprises: if it is determined that a vehicle located at a target charging position is in a charging ended state, generating a start instruction for an automatic parking function; on the basis of the start instruction, and on the basis of the target charging position and a parkable target position in the parking lot where the target charging position is located, performing path planning and generating a first navigation path; and on the basis of the first navigation path, controlling the vehicle to leave the target charging position and drive to the target position for parking.

Description

Parking method, device, electronic device, automobile and readable storage medium Cross-reference to related applications This application claims priority to the Chinese patent application No. 2024110800098, filed on August 7, 2024, entitled “Parking method, device, electronic device, automobile and readable storage medium”, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0001] The present application relates to, but is not limited to, the parking technical field, and in particular relates to a parking method, device, electronic device, automobile and readable storage medium. BACKGROUND

[0002] Car charging is a time-consuming and labor-intensive activity. In order to further improve the user experience, autonomous charging of the car has become a trend. SUMMARY

[0003] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0004] The present application provides an improved parking method, device, electronic device, automobile and readable storage medium.

[0005] The present application provides a parking method, comprising:

[0006] If it is determined that the car located at the target charging position is in an end charging state, an automatic parking function start instruction is generated;

[0007] Based on the start instruction, a first navigation route is generated according to the target charging position and a target position at which the parking lot where the target charging position is located can be parked;

[0008] Based on the first navigation route, the car is controlled to park out of the target charging position and drive to the target position for parking.

[0009] In some embodiments, if it is determined that the car located at the target charging position is in an end charging state, an automatic parking function start instruction is generated, comprising:

[0010] If it is determined that the car machine end obtains a charging end instruction, the automatic parking function start instruction is generated.

[0011] In some embodiments, the car machine end obtaining the charging end instruction is determined by the following steps:

[0012] In the case where the charging gun connected to the car is detected to be unplugged, the charging end instruction is obtained.

[0013] or,

[0014] In a case where it is monitored that the timing duration of the timing charging of the automobile arrives, the charging end instruction is acquired;

[0015] or,

[0016] In a case where it is monitored that the power of the energy system of the automobile is full, the charging end instruction is acquired;

[0017] or,

[0018] In a case where the instruction of interrupting the charging of the mobile terminal is received, the charging end instruction is acquired.

[0019] In some embodiments, the target position in the parking lot is determined by the following steps:

[0020] The pickup point input by the mobile terminal is received; the pickup point is the position closest to the mobile terminal among all the candidate pickup points displayed by the parking lot map marker, and is the position where the traffic facilities connecting the floors are located; the pickup point is connected with the personnel entrance of the parking lot;

[0021] The pickup point is taken as the target position.

[0022] In some embodiments, the target position in the parking lot is determined by the following steps:

[0023] Among all the candidate parking spaces displayed by the parking lot map marker, the candidate parking space closest to the target charging position is taken as the target position.

[0024] In some embodiments, the controlling the automobile to drive out of the target charging position and park in the target position based on the first navigation route comprises:

[0025] In a case where the target position is the parking space displayed by the parking lot map marker, in the controlling the automobile to drive out of the target charging position and park in the target position in the parking lot, the pickup point input by the mobile terminal based on all the candidate pickup points in the parking lot map is received;

[0026] The pickup point is determined as the updated target position;

[0027] The second navigation route is generated according to the current position of the automobile and the updated target position;

[0028] The automobile is controlled to drive to the updated target position according to the second navigation route; the updated target position is used for the user to get on the vehicle.

[0029] In some embodiments, before the start instruction of the automatic parking function is generated, if it is determined that the car located at the target charging position is in an end charging state, the method further comprises:

[0030] In the case that the car needs to be charged and the user activates the unmanned charging function, the alternative drop-off point displayed based on the parking lot map marker and the charging position of the unmanned charging pile are used to determine the drop-off point and the target charging position, a third navigation route is generated according to the current position, the drop-off point and the target charging position; the drop-off point is connected to the personnel entrance of the parking lot;

[0031] According to the third navigation route, the car is first controlled to arrive at the drop-off point, and then the car is controlled to drive to the target charging position to charge the car; the drop-off point is used for the user to get off; the target charging position is used for charging the car.

[0032] In some embodiments, the car is controlled to drive to the target charging position to charge the car, comprising:

[0033] When the car arrives at the target charging position and has not reached the queuing position for car charging, the car is controlled to queue at the queuing position of the target charging position; and

[0034] After the queuing position reaches the queuing position, the car is controlled to drive to the target charging position for charging.

[0035] The application provides a parking device, comprising:

[0036] A triggering module is configured to generate a start instruction of an automatic parking function if it is determined that the car located at the target charging position is in an end charging state;

[0037] A first navigation route generation module is configured to generate a first navigation route based on the start instruction according to the target charging position and a target position in a parking lot where the car can be parked.

[0038] A control parking module is configured to control the car to park out of the target charging position and drive to the target position for parking based on the first navigation route.

[0039] The application provides an electronic device comprising one or more processors configured to implement the method of any of the above.

[0040] The application provides a computer-readable storage medium having a program stored thereon, wherein the program is executed by a processor to implement the method of any of the above.

[0041] The application provides a computer program product comprising computer programs / instructions which, when executed by a processor, implement the method according to any one of the preceding method embodiments.

[0042] The application provides an automobile comprising one or more processors configured to implement the method according to any one of the preceding method embodiments.

[0043] In some embodiments, the parking method of the application generates a start instruction of an automatic parking function by determining that the automobile located at the target charging position is in an end charging state; and then controls the automobile to park out of the target charging position and drive to the target position for parking. In this way, after the automobile is automatically controlled to park out of the target charging position, the target charging position is vacated to facilitate charging of other automobiles at the target charging position. Moreover, controlling the automobile to drive to the target position for parking can more safely park the automobile.

[0044] Other aspects can become apparent from the following drawings and detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0045] The accompanying drawings are included to provide a further understanding of the technical solutions of the application, and constitute a part of the specification. The drawings, together with the embodiments of the application, are used to explain the technical solutions of the application, and do not constitute a limitation on the technical solutions of the application.

[0046] FIG. 1 shows a schematic diagram of the parking method provided by the embodiments of the application applied to a parking lot.

[0047] FIG. 2 shows a flowchart of the parking method provided by the embodiments of the application.

[0048] FIG. 3 shows a schematic diagram of the autonomous charging of the automobile included in the parking method shown in FIG. 2.

[0049] FIG. 4 shows a specific application flowchart of the autonomous charging of the automobile shown in FIG. 3.

[0050] FIG. 5 shows a schematic diagram of the modules of the parking device provided by the embodiments of the application.

[0051] FIG. 6 shows a schematic diagram of the structure of the electronic device provided by the embodiments of the application. DETAILED DESCRIPTION

[0052] The exemplary embodiments will be described in detail herein below with reference to the drawings. The following description relates to the drawings, in which like numerals refer to like elements throughout the several drawings. The embodiments described in the following exemplary embodiments do not represent all of the embodiments consistent with one or more aspects of the description. Rather, they are merely examples of apparatuses and methods consistent with some aspects of one or more aspects of the description as detailed in the appended claims.

[0053] It should be noted that the steps of the respective methods are not necessarily performed in the order shown and described in the present specification in other embodiments. In some other embodiments, the steps included in the methods thereof can be more or less than described in the present specification. Furthermore, a single step described in the present specification can be broken down into multiple steps for description in other embodiments; and multiple steps described in the present specification can be combined into a single step for description in other embodiments. At present, the number of charging positions of charging piles is less than the number of cars, and the demand for car charging is high, so the car at the charging position needs to leave the charging position as soon as possible after completing charging to vacate the charging position for other cars to use the charging position for charging.

[0054] However, at present, the car needs to be manually driven to leave the charging position after the autonomous charging of the car at the charging position is completed. Thus, if the car cannot be manually driven to leave the charging position in time, the charging position will be occupied all the time, thereby affecting the charging of other cars.

[0055] Therefore, the embodiments of the present application provide a parking method, which determines that the car located at a target charging position is in an end-of-charging state, generates a start instruction of an automatic parking function, and then controls the car to park out of the target charging position and drive to a target position for parking. Thus, after the car is controlled to park out of the target charging position, the target charging position can be vacated to facilitate other cars to charge at the target charging position. Moreover, controlling the car to drive to the target position for parking can more safely park the car.

[0056] FIG. 1 shows a schematic diagram of a parking method provided by the embodiments of the present application applied to a parking lot. The "parking lot" in the embodiments of the present application can include an above-ground parking lot or an underground parking lot, an indoor parking lot, and an open-air parking lot, and the like. Hereinafter, the parking method provided by the embodiments of the present application will be described by taking an underground parking lot as an example. It should be understood that the parking method of the embodiments of the present application is not limited to be applied to an underground parking lot, but can also be applied to an above-ground parking lot.

[0057] The dashed lines shown in FIG. 1 represent lanes, and all the lanes are not shown for the convenience of understanding and description. The width of the lane can be but is not limited to greater than or equal to 5.5 m. The width of the lane is at least greater than the width of a car, and the car can be driven in one direction. The arrows represent the driving direction of the car in the lane. In FIG. 1, the occupancy of each parking space of the parking lot 10, the occupancy of the charging pile 20, and the position of the traffic facility (which can also be referred to as a vertical traffic facility) for connecting floors can be displayed through a parking lot map.

[0058] The parking method provided by the embodiments of the present application includes the following two implementation stages.

[0059] The first implementation stage of the embodiment of the present application: the car can drive to the drop-off point in the lane through multiple drivable directions, temporarily stop, and wait for the user to get off. After the user gets off, the car continues to drive to the target charging position.

[0060] The drop-off point mentioned above refers to the position where the car can temporarily stop, and the user gets off near the vertical transportation facility. The position where the car can temporarily stop and the user gets on can be referred to as the pick-up point.

[0061] The vertical transportation facility mentioned above can include but is not limited to one or more of the elevator, escalator (not shown in FIG. 1), and staircase (not shown in FIG. 1) in the underground parking lot. The position of these vertical transportation facilities needs to be connected with the personnel entrance and exit of the underground parking lot to facilitate personnel access to the underground parking lot and parking or taking the car.

[0062] The personnel entrance and exit mentioned above refers to the entrance and exit of the underground parking lot for personnel access. In this way, the user can pass through the entrance and exit of the underground parking lot to go upstairs or pass through the entrance and exit of the underground parking lot to go downstairs. The vehicle exit shown in FIG. 1 is used to facilitate the vehicle to enter the parking lot, and the vehicle entrance is used to facilitate the vehicle to exit the parking lot.

[0063] On this basis, the second implementation stage of the embodiment of the present application: after the car autonomously charges, the car departs from the target charging position, and then the car automatically parks or moves to the target position where the user returns to the car (also referred to as getting on). In this process, the car automatically switches to the automatic cruise state without stopping and waiting in between. For detailed description of the specific process, please refer to the following.

[0064] FIG. 2 shows a flowchart of the parking method provided by the embodiment of the present application.

[0065] As shown in FIG. 2, the parking method can include but is not limited to the following steps 110 to 130.

[0066] Step 110: If it is determined that the car located at the target charging position is in the end charging state, a start instruction of the automatic parking function is generated. The car can be charged at the target charging position by using the charging pile.

[0067] For this solution, the car in the end charging state means that the car no longer needs to be charged, and at this time, the car needs to be parked out of the target charging position in time to vacate the target charging position. Therefore, at this time, the automatic parking function is triggered to start to realize that the car departs from the target charging position and drives to the target position where the car can be parked in the underground parking lot.

[0068] After the self-checking of the vehicle starting in step 110 succeeds, it is determined that the vehicle located at the target charging position is in the ending charging state. The navigation route to the target position can be planned according to the parking task issued by the vehicle itself.

[0069] Then, there are various ways to determine that the vehicle is in the ending charging state. In an optional determination method, it is determined that the vehicle is in the ending charging state by directly receiving the ending charging instruction. In another optional determination method, it is detected that the vehicle is in the ending charging state. Details are described below.

[0070] In step 120, based on the starting instruction, a first navigation route is generated according to the target charging position and the target position in the parking lot where the target charging position is located.

[0071] The starting instruction is used to start the automatic parking function. In this way, the vehicle can realize the automatic parking function through the starting instruction. Since the automatic parking function itself can realize the path planning and automatic parking functions, the starting instruction can start these path planning and automatic parking functions together, so as to control the vehicle to drive to the target position and park at the target position.

[0072] In some examples, the first navigation route is used to represent a drivable route between the target charging position and the target position in the underground parking lot. The first navigation route can be a navigation route obtained by taking the target charging position as the starting point of this time's vehicle navigation and taking the target position in the underground parking lot as the end point of this time's vehicle navigation. The target charging position can be the charging position for this vehicle among all charging positions.

[0073] The target position in the underground parking lot refers to a position in the underground parking lot where the vehicle can be parked. The target position includes a temporary parking position or a fixed parking space. The temporary parking position is, for example, a temporary drop-off point or a temporary pick-up point.

[0074] In step 130, based on the first navigation route, the vehicle is controlled to park out of the target charging position and drive to the target position for parking.

[0075] The vehicle in this step 130 can follow the first navigation route and determine the parking-out mode including the parking-out direction according to the navigation direction in the first navigation route. When the vehicle starts to park out, the corresponding direction of the turn signal is activated, and the turn signal is turned off when the parking-out is completed. Then, the vehicle drives to the target position for parking.

[0076] In some examples, when the vehicle automatically parks out of the target charging position, the vehicle is controlled to park out into the lane of the underground parking lot at one time. In this way, the vehicle can efficiently park out of the target charging position.

[0077] It should be noted that the first navigation route can be obtained by selecting a route with the shortest time, the least congestion and the shortest distance among a plurality of navigation routes between the target charging position and the target position as the first navigation route. In this way, the vehicle can be more quickly driven to the target position for parking.

[0078] Based on this, in combination with FIG. 2, the vehicle located at the target charging position in step 110 in the charging end state is determined by the following steps: determining that the car machine end of the vehicle obtains a charging end instruction. The car machine end of the vehicle refers to an in-vehicle multimedia system (IVI system). The car machine end of the vehicle is an electronic system integrated with multiple functions, installed in the vehicle, and aims to provide in-vehicle entertainment, information and communication services.

[0079] Correspondingly, the step 110 can further include generating a start instruction of the automatic parking function if it is determined that the car machine end of the vehicle obtains the charging end instruction. In this way, as long as the automatic parking function can be triggered in time through the charging end instruction when the vehicle charging ends, the occupation time of the target charging position can be reduced, the reaction time of the automatic parking function of the vehicle is short, and the target charging position can be vacated in time.

[0080] The determination that the car machine end of the vehicle obtains the charging end instruction can be implemented by the following various optional embodiments.

[0081] In an optional embodiment, the charging end instruction is obtained or generated in the case that it is detected that the charging gun connected to the vehicle is pulled out. For example, the charging gun being pulled out can be detected by a contact sensor. In this way, the charging end instruction is generated in the first time after the charging gun is pulled out, improving the timeliness of the charging end state determination.

[0082] In a second optional embodiment, the charging end instruction is obtained or generated in the case that it is monitored that the timing duration of the vehicle timing charging is reached.

[0083] The timing duration is a duration set in advance when the vehicle timing charging is performed. For example, the timing duration of the vehicle timing charging can be detected by a timer. The timing duration can be obtained in the following various ways.

[0084] In one example, the total duration of the current energy system that needs to be charged is used as the timing duration.

[0085] In another example, first, the total duration of the current energy system that needs to be charged is divided into a plurality of segmented durations of different lengths, and the segmented durations are displayed to the user. Second, any segmented duration input by the user from the plurality of segmented durations of different lengths is received as the timing duration.

[0086] In the second optional embodiment, the charging end instruction is automatically generated when the timing duration arrives. In this way, the user's demand for the timing duration is met, and the charging is automatically ended when the timing duration arrives, so that the time point of ending the charging is determined in a timely manner.

[0087] In the third optional embodiment, the charging end instruction is obtained or generated when it is monitored that the energy system of the automobile is fully charged. For example, the battery management system (BMS) monitors that the energy system of the automobile is fully charged. In this way, the automobile itself feeds back the power of the energy system, so that the determination of the charging end is more timely and effective. Moreover, the automobile is fully charged, which facilitates the user to continue using the automobile.

[0088] In the fourth optional embodiment, the charging end instruction is obtained or generated when the mobile terminal receives an instruction to interrupt the charging. For example, the mobile terminal is used to interact with the automobile. The mobile terminal can include, but is not limited to, a mobile phone and / or a handheld device used by the user.

[0089] In the fourth optional embodiment, the charging end is controlled by the mobile terminal, which facilitates the handling of an emergency or the timely interruption of the charging according to the user's demand. In this way, the charging is quickly interrupted, the charging end instruction is obtained in a timely manner, and the subsequent control of the automobile to vacate the target charging position is facilitated.

[0090] In addition, after the start instruction of the automatic parking function is generated, the automatic parking function needs to be started, and then the path planning and the automatic parking into the target position in the underground parking lot are performed. Specifically, in combination with FIG. 2, the target position in the underground parking lot in the above step 120 is determined by the following multiple implementation manners.

[0091] In the first optional implementation manner, the drop-off point input by the mobile terminal is first received, and the drop-off point is taken as the target position. The drop-off point is the position closest to the mobile terminal among all the candidate drop-off points marked on the parking lot map, and is the position of the traffic facility connecting the floors. The drop-off point is connected with the personnel entrance of the underground parking lot.

[0092] In a specific application example, first, the user drives the automobile to the underground parking lot supporting unmanned charging. If the automobile does not have the underground parking lot map on the car machine side, the data of the underground parking lot map is downloaded from the cloud. If the automobile has the underground parking lot map on the car machine side, the underground parking lot map is used.

[0093] Secondly, the map of the current location of the automobile is matched. After the map matching fails, the underground parking lot map is stopped from being recommended to the car machine end of the automobile. At this time, there is no underground parking lot map, and it is impossible to recommend. After the map matching succeeds, the interface of the car machine end restores to display the underground parking lot map, and a plan view of the location of the automobile itself is displayed by default.

[0094] Thirdly, all the candidate pickup points (also referred to as candidate drop-off points) in the parking lot map are marked. For example, the candidate pickup points and the candidate drop-off points can be collectively referred to as candidate points. The candidate points can include at least one of the POI (Point of Interest) positions such as elevators, escalators, and stairs.

[0095] Finally, based on the marking of all the candidate pickup points in the parking lot map, the pickup point is determined so that the user can get on the automobile. Alternatively, based on the marking of all the candidate drop-off points in the parking lot map, the drop-off point is determined so that the user can get off the automobile.

[0096] Taking the pickup point as the target position can make the target position closest to the mobile terminal, and facilitate the user to quickly get on the automobile.

[0097] In the second optional implementation manner, the candidate parking position closest to the target charging position among all the candidate parking positions marked in the parking lot map is taken as the target position.

[0098] The candidate parking position is used to represent the position where the automobile can be parked. The candidate parking position refers to the idle parking position marked in the parking lot map. In this way, the candidate parking position closest to the target charging position is used to quickly complete the parking of the automobile.

[0099] In the third optional implementation manner, the candidate parking position closest to the target charging position and the drop-off point among all the candidate parking positions marked in the parking lot map is taken as the target position. In this way, the target position can be quickly determined. In this way, the user can quickly find the automobile at the position of the previous drop-off point, which is convenient for the user to use and is also conducive to more efficient parking.

[0100] In the fourth optional implementation manner, any candidate parking position among all the candidate parking positions marked in the parking lot map is randomly selected as the target position. In this way, the target position can be quickly determined, and the automobile can be parked in time.

[0101] When the target position where the automobile can be parked in the underground parking lot is determined, in some application scenarios, the automobile can be controlled to drive from the target charging position to the target position for parking according to the first navigation route.

[0102] In some other application scenarios, the target position can be updated or changed during the process of controlling the vehicle to drive to the target position for parking. Based on this, in combination with FIG. 2, the step 130 can include the following steps ① to ④.

[0103] Step ①: In the case that the target position is a parking space marked on a parking lot map, when controlling the vehicle to drive out of the target charging position and drive to the target position in the underground parking lot, a drop-off point input by the mobile terminal for all the candidate drop-off points on the parking lot map is received.

[0104] It should be noted that, in the case that there are obstacles on both sides of the parking space marked on the parking lot map, the space width of the parking space is greater than the vehicle width + 1 m.

[0105] The candidate drop-off points in this document refer to all the drop-off points marked on the parking lot map. The input drop-off point is any one of all the drop-off points. The received drop-off point based on all the candidate drop-off points on the parking lot map in this step ① indicates the user's drop-off demand and clearly indicates the specific position where the user needs to drop off.

[0106] The above-mentioned parking space can be a default parking space or a temporarily selected parking space. For example, among all the candidate parking spaces marked on the parking lot map, the candidate parking space closest to the target charging position.

[0107] Correspondingly, the drop-off point is used to facilitate the user to reach the underground parking lot to get into the vehicle. The drop-off point can include any one of all the candidate drop-off points marked on the parking lot map and the position where the traffic facilities connecting the floors are located.

[0108] In addition, the drop-off point can also include the nearest parking space around the position where the traffic facilities connecting the floors are located. In this way, it is convenient for the user to get into the vehicle, and it also avoids occupying the temporary parking space for too long, thereby improving the safety of the user.

[0109] Step ②: Determine the drop-off point as the updated target position.

[0110] Step ③: Perform path planning according to the current position of the vehicle and the updated target position, and generate a second navigation route.

[0111] The above-mentioned second navigation route is used to represent the drivable route between the current position of the vehicle and the drop-off point of the user. The above-mentioned second navigation route can be a navigation route obtained by taking the current position of the vehicle as the starting point of this time vehicle navigation and taking the drop-off point of the user as the end point of this time vehicle navigation.

[0112] Step ④: Control the vehicle to drive to the updated target position according to the second navigation route, so that the user gets into the vehicle.

[0113] It should be noted that the second navigation route can be obtained by selecting the route with the shortest time, the smallest congestion and the shortest distance among the multiple navigation routes between the current position of the vehicle and the updated target position as the second navigation route. In this way, the vehicle can be more quickly driven to the updated target position to enable the user to get on the vehicle.

[0114] In the embodiments of the present application, after the vehicle finishes charging, the vehicle can not only be automatically parked to the target position, but also can receive the user's demand to get on the vehicle during the process of driving the vehicle to the target position for parking, automatically plan to the user's getting-on point, and timely meet the real-time vehicle demand.

[0115] In the related art, when the user gets into the underground parking lot with the vehicle, finding the elevator or escalator, stairs and other exits often becomes a big problem for the user after getting off the vehicle. Even in a parking lot that is frequently visited, there is a problem of vehicle charging trouble and the user cannot find the elevator.

[0116] In order to solve the problem of vehicle charging trouble and the user cannot find the elevator, as shown in FIG. 3, the parking method can use the alternative getting-off points marked and displayed by the parking lot map to plan the path for the user to get out of the underground parking lot. The vehicle first reaches the getting-off point to enable the user to get off the vehicle, and continues to control the vehicle to drive to the target charging position to charge the vehicle, thereby solving the problem of the user finding the elevator exit. Details are as follows.

[0117] In the optional embodiment of FIG. 3, the parking method can further include, but is not limited to, the following steps 101 to 102 before step 110.

[0118] Step 101, in the case that the vehicle needs to be charged and the user activates the unmanned charging function, determining the getting-off point and the target charging position based on the alternative getting-off points marked and displayed by the parking lot map and the charging positions of the unmanned charging piles, planning the path according to the current position, the getting-off point and the target charging position, and generating a third navigation route; the getting-off point is connected with the personnel exit of the underground parking lot.

[0119] The third navigation route is used to represent a drivable route in which the current position of the vehicle first reaches the user's getting-off point and then reaches the target charging position. The third navigation route can be a navigation route obtained by taking the current position of the vehicle as the starting point of this time vehicle navigation, taking the user's getting-off point as the passing point of this time vehicle navigation, and taking the target charging position as the terminal point of this time vehicle navigation.

[0120] The "first" in the first navigation route, the "second" in the second navigation route, and the "third" in the third navigation route are used to distinguish the three navigation routes, and do not limit the order.

[0121] The alternative drop-off point in this document refers to all drop-off points displayed by the parking lot map icon. This drop-off point is used to facilitate the user to exit the underground parking lot and leave the car.

[0122] In some examples, the drop-off point can include, but is not limited to, any one of all alternative drop-off points displayed by the parking lot map icon, and the location where the traffic facilities connecting the floors are located. In other examples, the drop-off point can include, but is not limited to, the default drop-off point or the closest alternative drop-off point to the current location among all alternative drop-off points displayed by the parking lot map icon.

[0123] Step 102, according to the third navigation route, control the car to first arrive at the drop-off point to make the user get off, and continue to control the car to drive to the target charging location to charge the car.

[0124] It should be noted that the above third navigation route can be obtained by the following steps: selecting the route with the shortest time, the smallest congestion and the shortest distance among the multiple navigation routes between the current position of the car, the drop-off point and the target charging location as the third navigation route. In this way, the car can be more quickly driven to the drop-off point and the target charging location for parking in sequence.

[0125] Generally, there are more idle charging positions of charging piles, and the car can be directly charged when it arrives at the target charging location. However, in some application scenarios, there can be many cars that need to be charged, and the car needs to be queued at the target charging location. Therefore, in order to realize that the car can still be charged autonomously after being queued at the target charging location, the above step 102 of continuing to control the car to drive to the target charging location to charge the car in the embodiment of the application can be realized by the following steps <1> to <2>.

[0126] Step <1>, when the car arrives at the target charging location, if it has not been queued to the queue position for charging, control the car to queue at the queue position of the target charging location.

[0127] The above queue position refers to an area that avoids the road and other charging positions. For example, a parking space divided around the target charging location.

[0128] The above queue position refers to an area that avoids the road and other charging positions. For example, a parking space divided around the target charging location.

[0129] For the above step <1> the car has not reached the target charging position when the queue position for car charging can include the vehicle queued in front of the car, determine the queue position not queued for the car, or, through the cloud display of the target charging position of the current charging car, determine the queue position not queued for the car. Any other way to determine the queue position not queued for the car also belongs to the protection scope of the embodiments of the application, which will not be listed one by one.

[0130] Step <2>, after queuing in the queue position, the car drives to the target charging position for charging.

[0131] In the embodiments of the application, the car can autonomously queue at the queue position of the target charging position, improving the safety of the car during autonomous charging.

[0132] Figure 4 shows a specific application flowchart of the autonomous charging of the car shown in Figure 3. As shown in Figure 4, the autonomous charging of the car includes the following steps 410-460.

[0133] Step 410, based on all the alternative drop-off points marked and displayed in the underground parking map, obtain the drop-off point and the target charging position.

[0134] Step 420, determine whether the car meets the preconditions of the unmanned charging function. The above preconditions include one or more of the conditions that the car needs to be charged and the underground parking lot where the car is located has a charging pile.

[0135] If not, that is, the car does not meet the preconditions of the unmanned charging function, return to step 410 for continuous execution, or execute the process of ending the unmanned charging activation without the need for unmanned charging. If yes, that is, the detection that the car meets the preconditions of the unmanned charging function, execute the following step 430.

[0136] Step 430, receive the instruction to activate the unmanned charging function. The interface card pop-up function of the car machine end is recommended to ask the user whether to activate the unmanned charging function through the user card and receive the user instruction. Or through the soft switch activation mode, ask the user whether to activate the unmanned charging function and receive the user instruction. The soft switch and the user card confirmation activation button function are the same, which are to activate the unmanned charging function, only the display positions of the two are different.

[0137] Step 440, determine whether the activation condition is met. The activation condition is met to indicate that the unmanned charging function is normal. If not, that is, the activation condition is not met, execute step 450 to remind that the unmanned charging function cannot be activated, and then continue to analyze the reason why the unmanned charging function cannot be activated, such as the failure of the device supported by the unmanned charging function.

[0138] If yes, that is, if the activation condition is met, step 460 is performed, the user is reminded that the unmanned charging function has been activated, and is navigated to the target charging location according to the queuing position of the target charging location. Specifically, the following steps are included.

[0139] First, after receiving the user's confirmation of activation of the unmanned charging function, an automatic navigation route is planned. The navigation route includes the drop-off point and the target charging location.

[0140] Second, if there are multiple navigation routes, the shortest path route is selected as the navigation route by default. This navigation route supports manual switching of other routes by the user.

[0141] Third, the user can manually drive to the drop-off point according to the navigation or activate the valet parking function to automatically cruise to the drop-off point.

[0142] Fourth, the car will arrive at the drop-off point, and the user is actively reminded to get off the car. After the user confirms to leave, the car is parked on the side and waits for the user to get off, and after all the doors are closed, the car automatically drives to the target charging location.

[0143] Based on the same application concept as the above method, the embodiments of the present application also propose a parking device, as shown in FIG. 5, which can include a triggering module 31, a first navigation route generation module 32, and a control parking module 33.

[0144] The triggering module 31 is configured to generate a start instruction of an automatic parking function if it is determined that a car located at a target charging location is in an end charging state.

[0145] The first navigation route generation module 32 is configured to generate a first navigation route based on the start instruction and according to the target charging location and a target position in an underground parking lot where the car can be parked.

[0146] The control parking module 33 is configured to control the car to park out of the target charging location and drive to the target position for parking based on the first navigation route.

[0147] In some optional embodiments, the above parking device can further include a state determination module configured to determine that the car located at the target charging location is in the end charging state.

[0148] The triggering module 31 is specifically configured to generate the start instruction of the automatic parking function if it is determined that a car machine end of the car obtains a charging end instruction.

[0149] In some optional embodiments, the above parking device can include a target position determination module configured to perform the following steps to determine the target position in the underground parking lot:

[0150] receive a drop-off point input by the mobile terminal; the drop-off point is a position closest to the mobile terminal among all candidate drop-off points displayed by the parking lot icon, and is a position where a traffic facility connecting floors is located; the drop-off point is connected to a personnel entrance of the underground parking lot; and the drop-off point is taken as the target position.

[0151] In some optional embodiments, the parking device can further include a target position determination module configured to determine the target position in the underground parking lot by performing the following steps:

[0152] Among all candidate parking spaces displayed by the parking lot icon, a candidate parking space closest to the target charging position is taken as the target position.

[0153] In some optional embodiments, the parking device can further include a second navigation route generation module, and in some optional embodiments, the parking device can further include a third navigation route generation module configured to, in a case where the car located at the target charging position is in an end charging state, and the user activates the unmanned charging function, before generating a start instruction of the automatic parking function, generate a third navigation route based on a candidate drop-off point displayed by the parking lot icon and a charging position of the unmanned charging pile, and perform path planning according to a current position, the drop-off point and the target charging position.

[0154] The parking device can further include a control module configured to control the car to first reach the drop-off point according to the third navigation route, so that the user gets off, and then control the car to travel to the target charging position to charge the car.

[0155] In some optional embodiments, the embodiments of the present application further provide an electronic device, which can but is not limited to include the parking device.

[0156] The electronic device can but is not limited to include a vehicle-mounted terminal connected to the car and a mobile terminal independent of the car. The vehicle-mounted terminal connected to the car can but is not limited to be a body processor, a center console or a car HUD head-up display. The mobile terminal independent of the car can but is not limited to be a computer device.

[0157] In some optional embodiments, the embodiments of the present application further provide a car, which can include but is not limited to include the parking device or the electronic device.

[0158] The car can include but is not limited to one or more of a new energy vehicle and a plug-in hybrid vehicle.

[0159] Fig. 6 shows a structural schematic diagram of an electronic device 50 according to an embodiment of the present application.

[0160] As shown in Fig. 6, the electronic device 50 comprises one or more processors 51 for implementing the parking method as described above.

[0161] In some embodiments, the electronic device 50 can comprise a storage medium 59. For example, the computer-readable storage medium can store a program that can be invoked by the processor 51, and can comprise a non-volatile storage medium. In some embodiments, the electronic device 50 can comprise a memory 58 and an interface 57. In some embodiments, the electronic device 50 can further comprise other hardware according to actual application.

[0162] The computer-readable storage medium of the embodiments of the present application stores a program, which, when executed by the processor 51, is used to implement the parking method as described above.

[0163] The present application provides a computer program product comprising computer programs / instructions, which, when executed by a processor, implement the method according to any one of the above.

[0164] The present application can take the form of a computer program product embodied in one or more computer-readable storage media having computer code thereon, for example, magnetic storage media such as a magnetic disk, hard disk, or floppy disk; magnetic tape; optical storage media such as a compact disk (CD) or DVD; semiconductor memory such as a solid-state drive (SSD) or flash memory; or other suitable medium. The computer-readable storage media can be non-transitory, and can be removable or non-removable. The computer-readable storage media can be non-volatile or volatile. The computer-readable storage media can be implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD), or other optical storage, magnetic cassettes, magnetic tapes, magnetic disk storage, or other magnetic storage devices, or any other non-transitory medium that can be used to store information accessible to computing devices and can be accessed by the computing devices.

[0165] The above only describes some embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0166] It is also to be noted that the terms "comprising", "including", and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. The statement "including a..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the recited element or a limitation thereof.

Claims

1. A parking method, comprising: generating a start instruction of an automatic parking function if it is determined that a car located at a target charging position is in an end charging state; based on the start instruction, path planning is performed according to the target charging position and a target position at which parking is possible in a parking lot where the target charging position is located, and a first navigation route is generated; based on the first navigation route, the car is controlled to park out of the target charging position and drive to the target position for parking.

2. The parking method according to claim 1, wherein, The step of generating the start instruction of the automatic parking function if it is determined that the car located at the target charging position is in the end charging state comprises: if it is determined that a car machine end of the car acquires a charging end instruction, the start instruction of the automatic parking function is generated.

3. The parking method according to claim 2, wherein, The step of acquiring the charging end instruction by the car machine end of the car comprises: in a case where it is detected that a charging gun connected to the car is unplugged, the charging end instruction is acquired; or, in a case where it is monitored that a timing duration of the car timing charging is reached, the charging end instruction is acquired; or, in a case where it is monitored that the energy system of the car is fully charged, the charging end instruction is acquired; or, in a case where an instruction of interrupting charging in a mobile terminal is received, the charging end instruction is acquired.

4. The parking method according to claim 1, wherein, The target position in the parking lot is determined by the following steps: receiving a pickup point input by a mobile terminal; the pickup point is a position closest to the mobile terminal among all candidate pickup points marked on a parking lot map, and is a position of a traffic facility connecting floors; the pickup point is connected to a personnel entrance of the parking lot; the pickup point is taken as the target position.

5. The parking method according to claim 1, wherein, The target position in the parking lot is determined by the following steps: among all candidate parking spaces marked on a parking lot map, a candidate parking space closest to the target charging position is taken as the target position.

6. The parking method according to claim 1, wherein, The step of controlling the car to park out of the target charging position and drive to the target position for parking based on the first navigation route comprises: in a case where the target position is a parking space marked on a parking lot map, when the car is controlled to park out of the target charging position and drive to the target position in the parking lot, a pickup point input by a mobile terminal for all candidate pickup points in a parking lot map is received; the pickup point is determined as an updated target position; path planning is performed according to a current position of the car and the updated target position, and a second navigation route is generated; the car is controlled to drive to the updated target position according to the second navigation route; the updated target position is used for a user to get on a vehicle.

7. The parking method according to claim 1, wherein, Before the step of generating the start instruction of the automatic parking function if it is determined that the car located at the target charging position is in the end charging state, the method further comprises: In a case that the automobile needs to be charged and the unmanned charging function is activated by the user, a parking lot map is marked to display an alternative drop-off point and a charging position of an unmanned charging pile, a drop-off point and a target charging position are determined, a path is planned according to a current position, the drop-off point and the target charging position, and a third navigation route is generated; the drop-off point is connected with a personnel entrance of the parking lot; According to the third navigation route, the automobile is controlled to first arrive at the drop-off point, and then the automobile is controlled to travel to the target charging position to charge the automobile; the drop-off point is used for the user to get off; and the target charging position is used for charging the automobile.

8. The parking method according to claim 7, wherein, The continuing control of the automobile to travel to the target charging position to charge the automobile includes: When the automobile arrives at the target charging position and has not been arranged to a queue position for charging, the automobile is controlled to queue at the queue position of the target charging position; After the queue position is queued, the automobile is controlled to travel to the target charging position to charge.

9. A parking device, comprising: a triggering module configured to generate a starting instruction of an automatic parking function if it is determined that an automobile located at a target charging position is in an ending charging state; a first navigation route generation module configured to generate a first navigation route based on the starting instruction and according to the target charging position and a target position at which a parking lot where the target charging position is located can be parked; a control parking module configured to control the automobile to park out of the target charging position and travel to the target position for parking based on the first navigation route.

10. An electronic device comprising one or more processors configured to implement the parking method of any one of claims 1-8.

11. An automobile comprising one or more processors configured to implement the parking method of any one of claims 1-8.

12. A computer-readable storage medium having a program stored thereon, the program being executed by a processor to implement the parking method of any one of claims 1-8.

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