Autonomous driving method and apparatus

Abstract

The present application relates to the technical field of autonomous driving, and provides an autonomous driving method and apparatus. The method comprises: in response to a first operation for a first control displayed on a display device, controlling a vehicle to travel to a target parking space, wherein the first operation is used for indicating the target parking space by means of the first control; and during the travel of the vehicle, the vehicle travels on an outdoor road on the basis of a first driving mode, and the vehicle travels into the target parking space on the basis of a second driving mode. On the basis of the method, the vehicle can provide users with navigation from a starting position to a target parking space, such that the vehicle can directly reach the parking space, and during the entire travel, the vehicle can autonomously switch to a driving mode appropriate for the current path, and the users do not need to actively switch or activate the driving mode of the vehicle throughout the entire travel, thereby simplifying user operations, reducing user learning costs, and improving the driving and riding experience of the users.

Description

Method and device for automatic driving TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to a method and device for automatic driving. BACKGROUND

[0002] Auto parking (AP) refers to automatic parking of a vehicle, that is, an automatic driving system can semi-automatically or fully automatically help a user to park the vehicle in a parking space. Auto parking can include auto parking assist (APA), auto valet parking (AVP), valet parking driver (VPD), etc.

[0003] In actual application scenarios, a user needs to switch the driving mode of the vehicle to a driving mode matching the current driving scenario at a suitable time. However, the above operation is completed on the premise that the user understands the meaning of various driving modes of the vehicle, which increases the learning cost of the user and affects the driving experience of the user.

[0004] SUMMARY

[0005] Embodiments of the present application provide a method and device for automatic driving, which can simplify the operation of a user using the automatic driving function of the vehicle. The user only needs to perform a confirmation operation on a control terminal, and then the automatic driving from a starting point or a parking space to a destination parking space can be realized. The user does not need to switch the driving mode of the vehicle in the middle of the way, which reduces the learning cost of the user and improves the user experience.

[0006] In a first aspect, a method for automatic driving is provided. In response to a first operation on a first control displayed by a display device, the first operation is used to indicate a target parking space through the first control. A vehicle is controlled to drive to the target parking space. In the driving process of the vehicle, the vehicle drives on an outdoor road based on a first driving mode, and the vehicle drives into the target parking space based on a second driving mode.

[0007] For example, the vehicle can be associated with a first terminal device, which can be used to implement the first operation on the first control.

[0008] For example, the first terminal device can be a vehicle-mounted terminal deployed in the cabin of the vehicle, or a portable device such as a smart phone, a smart bracelet, a smart watch, a tablet computer, or a notebook computer of the user.

[0009] For example, the outdoor road includes a road in a city, an alley, a highway, a tunnel, or the like; the target parking space can be located on a roadside, such as a painted parking space or a virtual parking space, or can be located in a parking lot.

[0010] For example, in response to the first operation on the first control displayed by the display device, the vehicle can be in a static state, such as being parked in a parking space or on a roadside, or can be in a dynamic state, such as driving on an outdoor road or a road in a parking lot.

[0011] Based on the above technical solution, the vehicle end can provide navigation for the user from a starting position (such as a starting point, a roadside, or a driving route) to a target parking space, so that the vehicle can directly reach the parking space, and in the entire journey, the vehicle can automatically switch the driving mode suitable for the current path, and the user does not need to actively switch or activate the driving mode of the vehicle, thereby simplifying the user operation, reducing the user learning cost, and improving the user driving experience.

[0012] In combination with the first aspect, in some implementations of the first aspect, before the first operation, in response to a second operation on a second control displayed by the display device, the second control is a search control, and the second operation includes: inputting a name of a first destination through the second control, and the target parking space is located near the first destination.

[0013] For example, the name of the first destination can be input into the second control by typing, or an identification number of the first destination associated with the name of the first destination can be input into the second control by typing, or the second control can be used to trigger voice input, and the first terminal device can be controlled to collect and analyze the voice input by the user including the name or the identification number of the first destination.

[0014] In combination with the first aspect, in some implementations of the first aspect, the display device further displays a navigation map, and before the first operation, in response to a second operation on a second control displayed by the display device, the second control is a marker, and the second operation includes: setting the second control at a first position on the navigation map, the first position corresponding to the first destination, and the target parking space being located near the first destination.

[0015] In combination with the first aspect, in some implementations of the first aspect, the first position corresponds to a position of a landmark indicating the first destination, or the first position corresponds to any position on a road adjacent to the first destination.

[0016] Based on the above technical scheme, multiple destination indication approaches are provided for the user to trigger the first control to recommend the target parking space. The flexibility of the user indicating the destination and triggering the target parking space recommendation function is increased, thereby increasing the flexibility of the user interacting with the vehicle end, and helping to improve the user experience.

[0017] In some implementations of the first aspect, in response to the second operation on the second control, the display device displays the first control; or, in response to the vehicle reaching the vicinity of the first destination, the display device displays the first control.

[0018] For example, the target parking space can be a parking space previously collected by the user. Before the vehicle starts intelligent driving, the user is directly recommended the previously collected parking space, that is, the display device displays the first control.

[0019] Based on the above technical scheme, multiple opportunities for the user to trigger the display device to display the first control (i.e., trigger the target parking space recommendation) are provided, giving the user multiple opportunities to trigger the vehicle to drive to the target parking space through intelligent driving. The needs of the user for target parking space recommendation and activating the vehicle intelligent driving to drive to the target parking space at different times are met. The flexibility of triggering the target parking space recommendation function is increased, and the flexibility of the user interacting with the vehicle end is increased, which helps to improve the user experience.

[0020] In some implementations of the first aspect, in response to the second operation on the second control, the second control is in a first state, and the second control in the first state is used to indicate the number of idle parking spaces near the first destination; or, in response to the first operation on the first control, the second control is in a second state, and the first control in the second state is used to indicate the location information of the target parking space; or, in response to the vehicle reaching the vicinity of the first destination, the second control is in a third state, and the second control in the third state is used to trigger the display of the first control.

[0021] Based on the above technical scheme, through the flexible dynamic badge form, the user is provided with relevant information about the destination when completing different operations, so that the user can quickly and accurately obtain the relevant information about the destination, and the user can more conveniently determine whether to trigger the target parking space recommendation and the intelligent driving function to directly reach the target parking space.

[0022] In some implementations of the first aspect, the display device further displays a first interface, and the first interface is used to display first target information, and the first target information includes: location information of the target parking space and type information, and the type information is used to indicate the geometric parameters and the auxiliary facilities of the parking space.

[0023] With reference to the first aspect, in some implementations of the first aspect, the target parking space belongs to a target parking lot, and the first target information further includes: a parking mode supported by the target parking lot, the parking mode corresponding to the second driving mode.

[0024] It should be understood that after determining the target parking space, the vehicle can recommend the target parking space to the user and display the target parking space through the first terminal device. The user only needs to set the destination as the target parking space through the first terminal device to trigger the intelligent driving function of the vehicle, so as to control the vehicle to travel from the starting position to the target parking space.

[0025] Based on the above technical solution, the user can be provided with destination-related information in various ways, so that the user can learn the relevant information of the target parking lot and / or the target parking space in advance, so as to enable the user to reasonably instruct the vehicle, which helps to increase the user experience.

[0026] With reference to the first aspect, in some implementations of the first aspect, the second driving mode includes a first sub-driving mode and / or a second sub-driving mode, the first sub-driving mode being used to control the vehicle to travel to the vicinity of the target parking space, and the second sub-driving mode being used to control the vehicle to park in the target parking space.

[0027] For example, the first driving mode is a high-speed or urban automatic auxiliary navigation driving (Navigate On Autopilot, NOA) mode or a high-speed or urban intelligent driving navigation cruise assist (NCA) mode; the second driving mode is a VPD mode or an AVP mode; the first sub-driving mode is a parking lot in-path mode; and the second sub-driving mode is an APA mode.

[0028] With reference to the first aspect, in some implementations of the first aspect, the target parking space belongs to a target parking lot, and the starting position of the vehicle is located outside the target parking lot. The vehicle travels from the starting position to an entrance of the target parking lot based on the first driving mode. In response to the vehicle reaching the entrance of the target parking lot, the vehicle travels to the vicinity of the target parking space based on the first sub-driving mode. In response to the vehicle reaching the vicinity of the target parking space, the vehicle parks in the target parking space based on the second sub-driving mode.

[0029] It should be understood that in the above scenario, the vehicle needs to pass through an outdoor road and then reach the target parking lot on the way from the starting position to the target parking space.

[0030] For example, when it is detected that the vehicle reaches the entrance of the target parking lot, the first driving mode in which the vehicle is located is switched to the first sub-driving mode. When the navigation position of the vehicle reaches the vicinity of the target parking space, the first sub-driving mode in which the vehicle is located is switched to the second sub-driving mode.

[0031] For example, the position information of the vehicle can be obtained by navigating the map data, or can be calculated by a vehicle sensor.

[0032] With reference to the first aspect, in some implementations of the first aspect, the target parking space is located on a roadside, and the vehicle drives to the vicinity of the target parking space based on the first driving mode; in response to the vehicle reaching the vicinity of the target parking space, the vehicle parks into the target parking space based on the second sub-driving mode.

[0033] For example, when it is detected that the vehicle reaches the vicinity of the target parking space, the first driving mode in which the vehicle is located is switched to the second sub-driving mode.

[0034] With reference to the first aspect, in some implementations of the first aspect, the starting position of the vehicle is a starting parking space, and the target parking space is located outside the starting parking space; the first sub-driving mode is further used to control the vehicle to drive out of the starting parking space from the vicinity of the starting parking space; the second sub-driving mode is further used to control the vehicle to park out of the starting parking space, and the vehicle parks out of the starting parking space based on the second sub-driving mode; in response to the vehicle parking out of the starting parking space, the vehicle drives out of the starting parking space based on the first sub-driving mode; in response to the vehicle reaching outside the starting parking space, the vehicle drives to the vicinity of the target parking space based on the first driving mode; in response to the vehicle reaching the vicinity of the target parking space, the vehicle parks into the target parking space based on the second sub-driving mode.

[0035] For example, before the vehicle drives, the second sub-driving mode of the vehicle is activated; when it is detected that the vehicle parks out of the starting parking space, the second sub-driving mode in which the vehicle is located is switched to the first sub-driving mode; when it is detected that the vehicle reaches outside the starting parking space, the first sub-driving mode in which the vehicle is located is switched to the first driving mode.

[0036] Based on the above technical solutions, according to the position information of the vehicle, it can be determined whether the vehicle is located on an outdoor road, or located in a target parking space, or located in the vicinity of a target parking space, so as to adaptively switch the corresponding driving mode without manual switching or activation by the user, thereby simplifying the operation of the user, reducing the learning cost of the user, and improving the driving experience of the user.

[0037] With reference to the first aspect, in some implementations of the first aspect, N candidate parking spaces in the vicinity of the first destination are determined, which can assist the vehicle in automatic parking, and the candidate parking spaces include M idle parking spaces, and N and M are greater than 0; a target parking space is selected from the N candidate parking spaces; idle parking space information of the target parking space is obtained, the idle parking space information including position information and type information of each idle parking space; and a target parking space is selected from the M idle parking spaces according to the idle parking space information.

[0038] For example, if the vehicle can automatically park in a parking space of a parking lot by the VPD mode, the cloud server needs to store at least one set of historical learning information uploaded by the vehicle after parking in the parking lot before, which includes the memorized parking route information, the parking space position information, and the parking space environment information. In combination with the sensing technology of the vehicle, the vehicle can obtain the real-time road conditions inside the parking lot in time to assist the automatic parking of the vehicle. Moreover, when it is determined that the number of idle parking spaces in the parking lot near the first destination that can assist the automatic parking of the vehicle is 0, even if the cloud server stores at least one set of historical learning information uploaded by the vehicle after parking in the parking lot before, the parking lot cannot be determined as the candidate parking lot.

[0039] For example, in addition to uploading the historical learning information to the cloud server by learning in the parking lot by the vehicle, other vehicles can also share the parking route to the cloud server after completing learning (i.e., parking or driving in the parking lot) in the same parking lot.

[0040] It should be understood that the above historical learning information can not be required to be uploaded only after the vehicle parks in the parking space, but as long as the vehicle drives in the parking lot, the historical learning information collected during the driving process can be uploaded to the cloud server.

[0041] For example, the above historical learning information can also be collected by the device at the parking lot end and shared to the cloud server.

[0042] For example, when no candidate parking lot is searched in the first range centered on the first destination, the above first range can be expanded to a second range, and whether there is a parking lot meeting the requirements in the part of the second range outside the first range is searched.

[0043] For example, when N = 1, the candidate parking lot can be directly determined as the target parking lot. When N > 1, the N candidate parking lots need to be screened in combination with the corresponding screening conditions, and the screening process is detailed in subsequent embodiments.

[0044] It should be understood that the content of the above idle parking space information can provide that the idle parking space can meet some preferences of the user, for example, according to the idle parking space information, it can be determined that the distance between the parking space and the pedestrian passage, whether the parking space has a charging pile for vehicle charging, etc. Therefore, the above idle parking space information is an important basis for screening the target parking space from the M idle parking spaces, and the target parking space should be the parking space in the M idle parking spaces that can best meet the user's preferences and is recommended to the user.

[0045] Based on the above technical solution, not only can the parking lot with the function of assisting the automatic parking of the vehicle be screened from the plurality of parking lots near the first destination, but also whether the parking lot has a free parking space and the related information of the free parking space can be obtained in real time, so as to screen the target parking space meeting the user's preference for the user and recommend it to the user. Thus, the driving experience of the user is further improved.

[0046] In combination with the first aspect, in some implementations of the first aspect, the candidate parking lot closest to the starting position is screened from the N candidate parking lots as the target parking lot; or, the target parking lot is screened from the N candidate parking lots according to the first indication information input by the user, and the first indication information is used to indicate the target parking lot in the N candidate parking lots.

[0047] The candidate parking lot closest to the starting position is preferentially recommended to the user as the target parking lot, so as to save the driving time of the user as much as possible. In addition, the user is given the way to independently select the target parking lot, so as to further increase the flexibility of the scheme and give the user more control, thereby helping to improve the driving experience of the user.

[0048] In combination with the first aspect, in some implementations of the first aspect, the M is greater than 1, the L first candidate parking spaces with the geometric parameters matching the vehicle are screened from the M free parking spaces, L is a positive integer, and the first candidate parking space closest to the pedestrian passage is screened from the L first candidate parking spaces as the target parking space.

[0049] For example, the pedestrian passage can include a staircase and an elevator, at this time, the vehicle end can preferentially screen the first candidate parking space closest to the elevator from the L first candidate parking spaces as the target parking space, and if the screening fails, the first candidate parking space closest to the staircase is screened from the L first candidate parking spaces as the target parking space.

[0050] Based on the above technical solution, under the premise that the target parking space can meet the requirements of the vehicle model of the user driving the vehicle, the parking space closest to the pedestrian passage is screened for the user as much as possible, so that the user can more conveniently leave the parking lot, the safety problem of the user walking in the parking lot is considered, and the route of the user leaving the parking lot is reduced as much as possible, thereby improving the safety of the user.

[0051] In combination with the first aspect, in some implementations of the first aspect, the M is greater than 1, the remaining power of the vehicle is obtained; in a case where the remaining power is lower than a first threshold, K second candidate parking spaces with the accessory facilities including charging piles are screened from the L first candidate parking spaces, K is a positive integer, and the second candidate parking space closest to the pedestrian passage is screened from the K second candidate parking spaces as the target parking space.

[0052] For example, if the remaining power of the vehicle is not lower than the first threshold, the M idle parking spaces can be directly screened by the method 1.

[0053] Based on the technical solution, the charging demand of the vehicle is considered, and when the remaining power of the vehicle is low, the vehicle is preferentially recommended to a parking space with a charging pile, so that the vehicle can fully utilize the parking time to charge, thereby further improving the user experience.

[0054] In combination with the first aspect, in some implementations of the first aspect, after the vehicle arrives near the target parking space, in response to the target parking space being currently unavailable for parking, the display device is controlled to display a fourth control, the fourth control being used to recommend an alternative target parking space; and in response to a fourth operation of the fourth control, the vehicle is controlled to enter the alternative target parking space.

[0055] For example, after the vehicle arrives near the target parking space, in a case where it is determined that the target parking space is currently unavailable for parking, a first candidate parking space closest to the pedestrian passage from the remaining (L-1) first candidate parking spaces is screened as the alternative target parking space, L being greater than 1, or a second candidate parking space closest to the pedestrian passage from the remaining (K-1) second candidate parking spaces is screened as the alternative target parking space, K being greater than 1; and the vehicle is controlled to park in the alternative target parking space.

[0056] In combination with the first aspect, in some implementations of the first aspect, in response to a distance between the alternative target parking space and the target parking space being greater than or equal to a second threshold, the vehicle travels to the vicinity of the alternative target parking space based on a first sub-driving mode.

[0057] For example, the case where the target parking space is currently unavailable for parking includes that there is an obstacle in the target parking space, an edge portion of the target parking space is occupied by the obstacle, there is an obstacle at an entrance of the target parking space, and the like, where the obstacle can be another vehicle, a pedestrian, a parking lock, or the like.

[0058] Based on the technical solution, the scenario where the target parking space is temporarily occupied and unavailable for parking is considered, so that the vehicle can continue to screen an alternative target parking space from the remaining candidate parking spaces and park in the alternative target parking space, thereby helping to improve the flexibility of parking.

[0059] In a second aspect, an apparatus for automatic driving is provided, which includes: a response unit configured to respond to a first operation of a first control displayed by a display device, the first operation being used to indicate a target parking space through the first control; and a control unit configured to control a vehicle to travel to the target parking space, in a process of the vehicle traveling, the vehicle travels on an outdoor road based on a first driving mode, and the vehicle enters the target parking space based on a second driving mode.

[0060] With reference to the second aspect, in some implementations of the second aspect, before the first operation, the response unit is further configured to: in response to a second operation on a second control displayed on the display device, the second control being a search control; wherein the second operation comprises: inputting a name of a first destination via the second control, the target parking space being located in a vicinity of the first destination.

[0061] With reference to the second aspect, in some implementations of the second aspect, the display device further displays a navigation map, and before the first operation, the response unit is further configured to: in response to a second operation on a second control displayed on the display device, the second control being a pin; wherein the second operation comprises: setting the second control at a first position on the navigation map, the first position corresponding to the first destination, the target parking space being located in a vicinity of the first destination.

[0062] With reference to the second aspect, in some implementations of the second aspect, the first position corresponds to a position of a landmark indicating the first destination, or the first position corresponds to an arbitrary position on a road adjacent to the first destination.

[0063] With reference to the second aspect, in some implementations of the second aspect, the response unit is further configured to: in response to the second operation on the second control, causing the display device to display the first control; or in response to the vehicle reaching the vicinity of the first destination, causing the display device to display the first control.

[0064] With reference to the second aspect, in some implementations of the second aspect, the response unit is further configured to: in response to the second operation on the second control, causing the second control to be in a first state, the second control in the first state being configured to indicate a number of idle parking spaces in the vicinity of the first destination; or in response to the first operation on the first control, causing the second control to be in a second state, the second control in the second state being configured to indicate the position information of the target parking space; or in response to the vehicle reaching the vicinity of the first destination, causing the second control to be in a third state, the second control in the third state being configured to trigger the display of the first control.

[0065] With reference to the second aspect, in some implementations of the second aspect, the display device further displays a first interface configured to display first target information, the first target information comprising: position information and type information of the target parking space, the type information being configured to indicate geometric parameters and auxiliary facilities of the parking space.

[0066] With reference to the second aspect, in some implementations of the second aspect, when the target parking space belongs to a target parking lot, the first target information further comprises: a parking mode supported by the target parking lot, the parking mode corresponding to the second driving mode.

[0067] With reference to the second aspect, in some implementations of the second aspect, the second driving mode includes a first sub-driving mode and / or a second sub-driving mode, wherein the first sub-driving mode is configured to control the vehicle to drive to a vicinity of the target parking space, and the second sub-driving mode is configured to control the vehicle to park into the target parking space.

[0068] With reference to the second aspect, in some implementations of the second aspect, when the target parking space belongs to a target parking lot and the starting position of the vehicle is located outside the target parking lot, in response to the vehicle driving from the starting position to an entrance of the target parking lot based on the first driving mode, the response unit is further configured to: in response to the vehicle reaching the entrance of the target parking lot, cause the vehicle to drive to the vicinity of the target parking space based on the first sub-driving mode; and in response to the vehicle reaching the vicinity of the target parking space, cause the vehicle to park into the target parking space based on the second sub-driving mode.

[0069] With reference to the second aspect, in some implementations of the second aspect, when the target parking space is located on a roadside, and in response to the vehicle driving from the starting position to the vicinity of the target parking space based on the first driving mode, the response unit is further configured to: in response to the vehicle reaching the vicinity of the target parking space, cause the vehicle to park into the target parking space based on the second sub-driving mode.

[0070] With reference to the second aspect, in some implementations of the second aspect, the first sub-driving mode is further configured to control the vehicle to drive out of a starting parking lot from a starting parking space, and the second sub-driving mode is further configured to control the vehicle to park out of the starting parking space, the starting position of the vehicle is the starting parking space, and the target parking space is located outside the starting parking lot, in response to the vehicle parking out of the starting parking space based on the second sub-driving mode, the response unit is further configured to: in response to the vehicle parking out of the starting parking space, cause the vehicle to drive out of the starting parking lot based on the first sub-driving mode; in response to the vehicle reaching outside the starting parking lot, cause the vehicle to drive to the vicinity of the target parking space based on the first sub-driving mode; and in response to the vehicle reaching the vicinity of the target parking space, cause the vehicle to park into the target parking space based on the second sub-driving mode.

[0071] With reference to the second aspect, in some implementations of the second aspect, in response to the vehicle reaching the vicinity of the target parking space, the response unit is further configured to: in response to the target parking space being currently unavailable for parking, cause the display device to display a fourth control, the fourth control being configured to recommend an alternative target parking space; and in response to a fourth operation of the fourth control, cause the vehicle to drive to the alternative target parking space.

[0072] With reference to the second aspect, in some implementations of the second aspect, in response to the distance between the alternative target parking space and the target parking space being greater than or equal to a second threshold value, the response unit is further configured to cause the vehicle to drive to the vicinity of the alternative target parking space based on the first sub-driving mode.

[0073] In a third aspect, an apparatus for autonomous driving is provided, comprising a processor and a memory, wherein the processor and the memory are connected, wherein the memory is configured to store program code, and the processor is configured to invoke the program code to perform the method in any possible implementation manner of the method design of the first aspect or the method in any possible implementation manner of the method design of the second aspect.

[0074] In a fourth aspect, a vehicle is provided, comprising the apparatus in any possible implementation manner of the apparatus design of the second aspect or the third aspect.

[0075] In a fifth aspect, a chip system is provided, which is applied to an electronic device; the chip system comprises one or more interface circuits and one or more processors; the interface circuit and the processor are connected through a line; the interface circuit is configured to receive a signal from a memory of the electronic device and send a signal to the processor, the signal comprising computer instructions stored in the memory; when the processor executes the computer instructions, the electronic device performs the method in any possible implementation manner of the method design of the first aspect.

[0076] In a sixth aspect, a computer readable storage medium is provided, which stores a computer program or instructions, and the computer program or instructions are used to implement the method in any possible implementation manner of the method design of the first aspect.

[0077] In a seventh aspect, a computer program product is provided, and the computer program code or instructions are executed on a computer to make the computer perform the method in any possible implementation manner of the method design of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0078] FIG. 1 is a functional block diagram of a vehicle 100 according to an embodiment of the present application;

[0079] FIG. 2 is a schematic block diagram of an ADAS according to an embodiment of the present application;

[0080] FIG. 3 is a flowchart of a method 300 for autonomous driving according to an embodiment of the present application;

[0081] FIG. 4 is a schematic diagram of a second control according to an embodiment of the present application;

[0082] FIG. 5 is a schematic diagram of another second control according to an embodiment of the present application;

[0083] FIG. 6 is a state diagram of a second control according to an embodiment of the present application;

[0084] FIG. 7 is a schematic diagram of a recommendation interface according to an embodiment of the present application;

[0085] FIG. 8 is a schematic diagram of a first interface according to an embodiment of the present application;

[0086] FIG. 9 is a schematic diagram of a fourth control according to an embodiment of the present application;

[0087] FIG. 10 is a schematic diagram of a method 1000 of determining a target parking space according to an embodiment of the present application;

[0088] FIG. 11 is a schematic diagram of a user graphical interface 1100 according to an embodiment of the present application;

[0089] FIG. 12 is a schematic diagram of another user graphical interface 1200 according to an embodiment of the present application;

[0090] FIG. 13 is a schematic diagram of another user graphical interface 1300 according to an embodiment of the present application;

[0091] FIG. 14 is a schematic diagram of a status of a reservation according to an embodiment of the present application;

[0092] FIG. 15 is a schematic block diagram of an apparatus 1500 for autonomous driving according to an embodiment of the present application. DETAILED DESCRIPTION

[0093] It should be noted that, in the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in the present application is only a description of the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone.

[0094] In the embodiments of the present application, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two, "at least one" and "one or more" means one, two or more than two. The singular expression "one", "a kind", "the", "the above", "the" and "this" is intended to also include, for example, the expression "one or more", unless there is clear indication to the contrary in the context.

[0095] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Thus, the appearances of the phrases "in one embodiment" or "in some embodiments" in various places throughout this specification are not necessarily all referring to the same embodiment, but can refer to one or more but not all embodiments. The terms "including," "comprising," "featuring," and variations thereof are meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless otherwise noted, the terms "including" and "comprising" are used in an inclusive sense, and should be interpreted as meaning "including, but not limited to."

[0096] The technical solutions in the embodiments of the present application will be described below with reference to the drawings.

[0097] FIG. 1 is a functional block diagram of a vehicle 100 according to an embodiment of the present application.

[0098] The vehicle 100 can include a perception system 110, a computing platform 120, and a display device 130. The perception system 110 can include one or more sensors that sense information about the environment surrounding the vehicle 100. For example, the perception system 110 can include a positioning system, which can be a global positioning system (GPS), a Beidou system, or another positioning system. For another example, the perception system 110 can include one or more of an inertial measurement unit (IMU), an acceleration sensor, a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera. For example, the acceleration sensor can include a sensor for detecting an acceleration signal of an air suspension system, or a sensor for detecting an acceleration signal of an ESC.

[0099] Some or all functions of the vehicle 100 can be controlled by the computing platform 120. The computing platform 120 can include one or more processors, such as processors 121 through 12n (n is a positive integer), which are circuits with the capability of processing signals. In one implementation, the processors can be circuits with the capability of reading and executing instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a kind of microprocessor), or a digital signal processor (DSP), etc. In another implementation, the processors can be circuits with the capability of implementing certain functions through a logic relationship of hardware circuits, which can be fixed or reconfigurable. For example, the processors can be hardware circuits implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD) such as a field programmable gate array (FPGA). In the reconfigurable hardware circuit, the processor loads a configuration document to implement the configuration of the hardware circuit. It can be understood that the processor loads instructions to implement the functions of the above units. In addition, the processors can also be hardware circuits designed for artificial intelligence, which can be understood as a kind of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 120 can also include a memory for storing instructions, and some or all of the processors 121 through 12n can call the instructions in the memory to implement corresponding functions.

[0100] The display device 130 in the cabin is mainly divided into two categories, the first category is a vehicle display screen, and the second category is a projection display screen, such as 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, a display screen in front of a passenger (also referred to as a front passenger) at a co-driver position, a display screen in front of a left rear passenger, and a display screen in front of a right rear passenger, and even a vehicle window can be used as a display screen for display. The head up display, also known as a head-up display system, is mainly used for displaying driving information such as speed, navigation, etc. on a display device (such as a windshield) in front of the driver. In order to reduce the time of the driver's line of sight shift and avoid the change of the pupil caused by the driver's line of sight shift, the driving safety and comfort are improved. The HUD includes, for example, a combiner-HUD (C-HUD) system, a windshield-HUD (W-HUD) system, and an augmented reality HUD (AR-HUD). It should be understood that other types of systems can also appear as the technology evolves, and the present application does not limit this.

[0101] The above display device 130 is described by taking the vehicle display screen and the projection display screen as examples, and the embodiments of the present application are not limited thereto. For example, the display device 130 can also be a light display screen or a projection screen.

[0102] The vehicle 100 can include an advanced driving assistant system (ADAS). The ADAS uses various sensors (including but not limited to laser radar, millimeter wave radar, camera, ultrasonic sensor, global positioning system, inertial measurement unit) on the vehicle 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 / reminding, etc., thereby improving the safety, automation level and comfort of vehicle driving.

[0103] For example, FIG. 2 is a schematic block diagram of an ADAS according to an embodiment of the present application.

[0104] From a logical function, the ADAS can include three main functional modules: a perception module 210, a decision module 220, and an execution module 230. The perception module 210 perceives the environment around the vehicle body through sensors and inputs corresponding real-time data to the decision module 220. The decision module 220 makes corresponding decisions based on the information obtained by the perception module 210. The execution module 230 takes corresponding actions such as driving, lane changing, steering, braking, warning, etc. after receiving the decision signal from the decision module 220.

[0105] The above perception module 210 can be the above-mentioned perception system 110, and the decision module 220 can be located in the above-mentioned computing platform 120.

[0106] In some possible embodiments, the above-mentioned decision module 220 can also include an artificial intelligence (AI) model based on deep learning. By inputting the relevant information obtained by the perception module 210 into the AI model, the AI model can analyze the current driving scene of the vehicle based on a pre-trained analysis decision mechanism, determine and output corresponding decision results, such as a planned path from one place to another, and the vehicle intelligently drives based on the corresponding driving state in each road section, thereby realizing the integration of perception and decision, and outputting corresponding decision results based on input raw perception data.

[0107] Under different levels of autonomous driving (L0-L5), the ADAS can realize different levels of autonomous driving assistance based on artificial intelligence algorithms and information obtained by multiple sensors. The above-mentioned levels of autonomous driving (L0-L5) are based on the classification standard of the Society of Automotive Engineers (SAE). Among them, L0 level is non-automation; L1 level is driving assistance; L2 level is partial automation; L3 level is conditional automation; L4 level is high automation; L5 level is complete automation. The tasks of monitoring the road conditions and reacting are completed by the driver and the system together from L1 to L3 level, and the driver needs to take over the dynamic driving task. L4 and L5 levels can let the driver completely change into the role of a passenger. For example, automatic parking can include APA, remote parking assist (RPA), and AVP, etc. For APA, the driver does not need to manipulate the steering wheel, but still needs to control the accelerator and brake on the vehicle; for RPA, the driver can use a terminal (such as a mobile phone) to remotely control the vehicle outside the vehicle; for AVP, the vehicle can complete parking without a driver. From the corresponding level of autonomous driving, APA is approximately at the level of L1, RPA is approximately at the level of L2-L3, and AVP is approximately at the level of L4.

[0108] For ease of understanding, the following explains the following multiple driving modes involved in the embodiments of the present application.

[0109] AVP, after the user drives into the parking lot and activates the AVP mode, the vehicle can automatically find a route from the entrance of the parking lot (or any position in the parking lot) to the target parking space and park in it. In the AVP mode, the user needs to be in the cabin.

[0110] In addition, the AVP mode also supports parking out of the parking space and finding a route for the vehicle to the exit of the parking lot.

[0111] VPD, after the user drives into the parking lot and activates the VPD mode, the vehicle can automatically find a route from the entrance of the parking lot (or any position in the parking lot) to the target parking space and park in it. In the VPD mode, the user does not need to be in the cabin.

[0112] In addition, the AVP mode also supports parking out of the parking space and finding a route for the vehicle to the exit of the parking lot.

[0113] APA, after the user drives the vehicle to the vicinity of the target parking space and activates the APA mode, the vehicle can park in the target parking space after the user indicates the target parking space through the vehicle terminal. If the vehicle is in the parking space before the APA mode is activated, the vehicle can park out of the parking space after the APA mode is activated.

[0114] Remote parking, when there is no driver in the vehicle, the vehicle reaches the vicinity of the target parking space, for example, the user can control the vehicle to park in the target parking space through remote control of the RPA. If the vehicle is in the parking space before the RPA mode is activated, the vehicle can automatically park out of the parking space without a driver after the RPA mode is activated. For another example, the vehicle parks in the target parking space after sensing that the driver has gotten off and meeting preset conditions, which include that there is no person within a certain distance around the vehicle. The RPA mode can be applied to special parking spaces, such as mechanical parking spaces, narrow parking spaces, etc.

[0115] NCA, this function is an intelligent driving function outside the parking lot. After the vehicle initiates navigation, i.e., starts driving to the destination, the user can manually (including through a portable terminal) activate the NCA mode, and the vehicle can drive intelligently to the destination.

[0116] With the development of automatic driving technology, there are more and more scenarios that can allow the vehicle to perform automatic driving functions. In order to increase the driving adaptability and safety of the vehicle in different scenarios, the vehicle can drive in the corresponding driving mode for different driving scenarios. For example, when the user drives the vehicle on the highway, the driving mode of the vehicle can be set to the NCA mode; or when the user drives the vehicle to park in the parking lot, the driving mode of the vehicle can be set to the VPD or AVP mode.

[0117] Based on the above description, the driving mode can represent a driving function mode supported by the vehicle, and can also represent a driving state of the vehicle in some scenarios. For example, when the vehicle is intelligently driven on a highway, the driving mode of the vehicle is a high-speed automatic auxiliary navigation driving mode, i.e., a high-speed NOA; when the vehicle is intelligently driven on an internal road of a parking lot before parking, the driving mode of the vehicle is AVP or VPD. Those skilled in the art can realize the corresponding driving mode in other scenarios, which are not exemplified here.

[0118] Although the vehicle can provide multiple driving modes to realize automatic driving of the vehicle in different scenarios, the user needs to set the driving mode of the vehicle at the appropriate time and place on the premise of understanding the driving mode, which makes the learning cost of the user high and the user experience poor. The following describes the problem through a common driving scenario.

[0119] Suppose the vehicle of the user is initially parked in a parking lot supporting VPD or AVP function, at this time the user needs to drive the vehicle to the destination and park the parking space in the parking lot supporting VPD or AVP function near the destination. Then the user needs to perform the following operations during the entire driving process:

[0120] Firstly, the driving mode of the vehicle is set to the AVP mode through the control terminal, so that the vehicle automatically parks out of the parking space and drives out of the parking lot to the highway section outside the parking lot;

[0121] Then, the driving mode of the vehicle is switched to the NCA mode through the control terminal, and the vehicle automatically drives to the destination based on the path planning based on the current position and the destination position, and the destination can be a parking lot supporting AVP or VPD function in the park.

[0122] Finally, the driving mode of the vehicle is switched to the AVP or VPD mode through the control terminal, so that the vehicle automatically finds a suitable parking space and parks in it.

[0123] As can be seen from the above driving scenario, if the user wants to complete the driving of the vehicle from a parking space in one parking lot to another parking space, the user needs to accurately perform at least three operations related to the driving mode setting of the vehicle on the premise of understanding the function of AVP / VPD and NCA. This makes the operation of the user more cumbersome, and the learning cost is high, and the user experience is poor.

[0124] In view of this, the embodiment of the present application provides a method and device for automatic driving. The vehicle end can provide the user with navigation from the current location (for example, a parking space at the starting point, a roadside or a midway of driving) to a destination parking space, so that the vehicle can directly reach the parking space, and during the automatic driving, the vehicle can automatically switch the driving mode based on the environment or scene perception to match the driving scene, and the user does not need to actively switch or activate the driving mode of the vehicle, thereby simplifying the user operation, reducing the user learning cost, and improving the user driving experience.

[0125] FIG. 3 is a flow diagram of a method 300 for automatic driving according to an embodiment of the present application. The method 300 is applied to a vehicle and can be executed by an automatic driving system or a related control system of the vehicle. The method 300 includes the following steps:

[0126] S310: in response to a first operation on a first control displayed on the display device, the first operation being used to indicate a target parking space through the first control.

[0127] In some possible embodiments, the first control can be marked with a corresponding explanatory text, for example, “go to parking”, “confirm”, etc.

[0128] In some possible embodiments, the vehicle can be associated with the first terminal device to implement the first operation on the first control.

[0129] In some possible embodiments, the first terminal device can be a vehicle-mounted terminal deployed in a cabin of the vehicle, or a portable device such as a smartphone, a smart bracelet, a smart watch, a tablet computer or a notebook computer of the user.

[0130] In some possible embodiments, when the first operation on the first control displayed on the display device is responded, the vehicle can be in a stationary state, for example, stationary in a parking space or on a roadside, or can be in a moving state, for example, driving on an outdoor road or a road in a parking lot.

[0131] S320: control the vehicle to drive to the target parking space, and during the driving of the vehicle, the vehicle drives on an outdoor road based on a first driving mode, and the vehicle drives into the target parking space based on a second driving mode.

[0132] It should be understood that the first driving mode is used to control the vehicle to drive on the outdoor road, and the second driving mode is used to control the vehicle to drive into the target parking space.

[0133] In some possible embodiments, the outdoor road includes a road in an urban area, an alley, a highway or a tunnel, etc. In addition, the target parking space can be located on a roadside, for example, a painted parking space or a virtual parking space on the roadside, and in addition, the target parking space can be located in a parking lot.

[0134] Based on the technical solution, the vehicle end can provide the user with navigation from a starting position (for example, a parking space at a starting point, a roadside, or a route being traveled) to a target parking space, so that the vehicle can reach the parking space, and during the entire journey, the vehicle can automatically switch the driving mode suitable for the current path, and the user does not need to actively switch or activate the driving mode of the vehicle, thereby simplifying the user operation, reducing the user learning cost, and improving the user driving experience.

[0135] In some possible embodiments, before the first operation is performed, the second operation on the second control displayed on the display device can also be performed. The second control can be a search control.

[0136] FIG. 4 is a schematic diagram of a second control according to an embodiment of the present application.

[0137] Based on the second control shown in FIG. 4, the second operation includes inputting a name of a first destination through the second control, and the target parking space is located near the first destination.

[0138] In some possible embodiments, the manner of inputting the name of the first destination through the second control includes inputting the name of the first destination in the second control by typing, or inputting an identification number of the first destination in the second control by typing, the identification number being associated with the name of the first destination, or the second control is configured to trigger voice input, and the first terminal device can be controlled to collect and analyze voice input by the user and including the name or the identification number of the first destination.

[0139] In some possible embodiments, before the first operation is performed, the second operation on the second control displayed on the display device can also be performed. The second control can be a landmark.

[0140] FIG. 5 is a schematic diagram of another second control according to an embodiment of the present application.

[0141] Based on the second control shown in FIG. 5, the second operation includes setting the second control at a first position on a navigation map, the first position corresponding to the first destination, and the target parking space being located near the first destination.

[0142] In some possible embodiments, referring to (a) in FIG. 5, the first position corresponds to a position of a landmark indicating the first destination, or referring to (b) in FIG. 5, the first position corresponds to any position on a road adjacent to the first destination.

[0143] Based on the above technical solutions, the user is provided with multiple ways to indicate the destination to trigger the first control to recommend the target parking space. The flexibility of the user indicating the destination and triggering the target parking space recommendation function is increased, thereby increasing the flexibility of the user and the vehicle interaction, and helping to improve the user experience.

[0144] In some possible embodiments, the premise of triggering the display device to display the first control can be in response to a second operation on the second control.

[0145] For example, when the vehicle is parked in the starting parking space, the user can perform the second operation on the second control, such as inputting the first destination in the search box or setting a marker near the first destination in the navigation map, to trigger the function of searching for the target parking space near the first destination, thereby triggering the display device to display the first control. At this time, if the user performs the first operation on the first control in response, the intelligent driving of the vehicle from the starting parking space to the target parking space is initiated, and the corresponding driving mode is adaptively converted during this period to adapt to different driving scenarios, such as outdoor road scenarios, indoor road scenarios in parking lots, and parking scenarios.

[0146] For example, if the user has not performed the first operation on the first control before, the second operation on the second control can be performed again during the vehicle driving to the first destination, such as inputting the first destination in the search box or setting a marker near the first destination in the navigation map, to trigger the function of searching for the target parking space near the first destination, and after the target parking space is searched, the display device displays the first control. At this time, if the user performs the first operation on the first control in response, the intelligent driving of the vehicle from the starting parking space to the target parking space is initiated, and the corresponding driving mode is adaptively converted during this period to adapt to different driving scenarios, such as outdoor road scenarios, indoor road scenarios in parking lots, and parking scenarios.

[0147] In some possible embodiments, the premise of triggering the display device to display the first control can also be in response to the vehicle reaching near the first destination.

[0148] For example, during the driving of the vehicle to the first destination, assuming that the user has not performed the first operation on the first control, the vehicle end can determine whether the current position of the vehicle reaches the vicinity of the first destination by acquiring the navigation position of the vehicle or the road scene information collected by the vehicle sensor, etc. If it is determined that the vehicle has reached the vicinity of the first destination, the operation of searching for the target parking space in the vicinity of the first destination can be automatically triggered, and the display device displays the first control after the target parking space is searched. At this time, if the user performs the first operation on the first control, the intelligent driving of the vehicle from the starting parking space to the target parking space is initiated, and the corresponding driving mode is adaptively converted during this period to adapt to different driving scenes.

[0149] In some possible embodiments, the target parking space can be a parking space previously collected by the user, and accordingly, the display device can also display a collection control. When responding to a third operation on the collection control, the display device can also display the first control.

[0150] For example, assuming that the target parking space can be a commonly used parking space or a parking space previously marked or collected by the user. Before the vehicle starts intelligent driving, the recommendation of the commonly used target parking space can be directly triggered, that is, the display device displays the first control. If the user performs the first operation on the first control, the intelligent driving of the vehicle from the starting position to the target parking space is initiated, and the corresponding driving mode is adaptively converted during this period to adapt to different driving scenes.

[0151] In some possible embodiments, the user current need to go to the commonly used target parking space can be determined according to the user vehicle use history information. The user vehicle use history information can be the time of the user each time from the current starting position to the commonly used target parking space, or the historical frequency of the user going to the commonly used target parking space, or the target parking space collected by the user in history, etc., so as to analyze the user's intention.

[0152] Based on the above technical solutions, multiple opportunities for the user to trigger the display of the first control (i.e., triggering the recommendation of the target parking space) of the display device are provided, and the user is given multiple opportunities to trigger the intelligent driving of the vehicle to the target parking space, so as to meet the needs of the user that the recommendation of the target parking space and the activation of the intelligent driving of the vehicle to the target parking space can be triggered at different times. The flexibility of triggering the recommendation of the target parking space function is increased, and the flexibility of the user and the vehicle end interaction is increased, which helps to improve the user experience.

[0153] In some possible embodiments, in the case that the second control is a sticker, the state of the second control can correspond to different states in response to different operations or driving information of the vehicle.

[0154] FIG. 6 is a state diagram of a second control according to an embodiment of the present application.

[0155] Referring to (a) of FIG. 6, in response to a second operation on the second control, the second control is in a first state, and the second control in the first state is used to indicate the number of idle parking spaces near the first destination; or,

[0156] Referring to (b) of FIG. 6, in response to a first operation on the first control, the second control is in a second state, and the first control in the second state is used to indicate the location information of the target parking space; or,

[0157] Referring to (c) of FIG. 6, in response to the vehicle reaching the vicinity of the first destination, the second control is in a third state, and the second control in the third state is used to trigger the display of the first control.

[0158] Based on the above technical solutions, by means of the dynamic and flexible marker form, the user can be provided with relevant information about the destination when completing different operations, so that the user can quickly and accurately obtain the relevant information of the destination, and it is helpful for the user to more conveniently determine whether to trigger the target parking space recommendation and the function of directly driving to the target parking space.

[0159] In some possible embodiments, the vehicle can establish a communication connection with a cloud server, and the cloud server is used to provide a navigation map (or a panoramic map) in a specified area range and includes relevant information of each facility in the map, which is displayed by a display device. The first destination can be located in the navigation map, and the vehicle can obtain not only the location information of the first destination but also the relevant information of the parking lot near the first destination through the cloud server. The relevant information of the parking lot can include whether the parking lot supports automatic parking of the vehicle (i.e., whether the parking lot supports VPD or AVP), the number of idle parking spaces, the location information and type information of each parking space (including idle parking spaces and non-idle parking spaces), and the type information is used to indicate the geometric parameters (such as length and width) of the parking space and the auxiliary facilities (such as whether there is a charging pile). The above information can be fed back to the cloud server in real time, and the vehicle can determine the target parking space in the target parking lot corresponding to the first destination based on the above information obtained from the cloud server in real time, so as to recommend the target parking space to the user.

[0160] It should be understood that the parking lot mentioned above that supports the VPD function or the AVP function refers to that the cloud server stores at least one set of historical learning information uploaded by the vehicle after parking in the parking lot before. The historical learning information includes memorized parking route information, parking space location information, and parking space environment information. The parking space environment information refers to the distance between the parking space and the related facilities, or the auxiliary facilities provided by the parking space, such as a charging pile.

[0161] In some possible embodiments, in addition to learning by the ego vehicle in the parking lot and uploading historical learning information to the cloud server, other vehicles can also share the parking route to the cloud server after completing learning (i.e., parking or driving in the parking lot) in the same parking lot.

[0162] It should be understood that the historical learning information described above can not require uploading after the vehicle is parked in the parking space, but can be uploaded to the cloud server as long as the vehicle drives in the parking lot.

[0163] In some possible embodiments, the historical learning information described above can also be collected by the parking lot side device and shared to the cloud server. The embodiments of the present application do not limit the source of the historical learning information.

[0164] In some possible embodiments, the first control can be located in a recommendation interface. In the case that the target parking space is located in the target parking lot, the recommendation interface can include not only the first control but also the related information of the target parking lot.

[0165] FIG. 7 is a schematic diagram of a recommendation interface according to an embodiment of the present application.

[0166] In some possible embodiments, as shown in (a) of FIG. 7, in the case that the target parking space is located in the target parking lot, the related information of the target parking lot included in the recommendation interface can include: the name of the road section or landmark where the target parking lot is located, whether the target parking lot supports the automatic parking related mode (e.g., AVP mode or VPD mode) of the vehicle, the number of idle parking spaces, the location information of the target parking space, and the like.

[0167] In some possible embodiments, as shown in (b) of FIG. 7, in the case that the target parking space is located on the roadside, the recommendation interface can include the road section to which the target parking space belongs and the number of virtual parking spaces.

[0168] In some possible embodiments, the display device can also display a first interface for displaying first target information, and the first target information includes: the location information (e.g., the floor number of the target parking lot) and the type information of the target parking space, the type information being used to indicate the geometric parameters and the auxiliary facilities of the parking space; the first target information can also include the distance to the target parking space, the number of idle parking spaces (which is used to find a backup target parking space), the size of the parking lot (distance, number of parking spaces, number of floors), the road where the entrance of the parking lot is located, and the like.

[0169] FIG. 8 is a schematic diagram of a first interface according to an embodiment of the present application.

[0170] In some possible embodiments, as shown in FIG. 8, when the target parking space belongs to a target parking lot, the first target information can further include a parking mode supported by the target parking lot, and the parking mode corresponds to the second driving mode.

[0171] For example, the second driving mode of the vehicle can be an AVP mode and / or a VPD mode. When the cloud server records historical data of the vehicle parking in the target parking lot, it means that the target parking lot supports the second driving mode of the vehicle. Therefore, the first target information can include that the target parking lot supports the AVP mode and / or the VPD mode. In addition, the first target information can further include a driving distance to the target parking lot, a road number where the target parking lot is located, and the like.

[0172] In some possible embodiments, the first interface can be displayed in response to a fourth operation on the recommendation interface, and the fourth operation includes touching a position other than the first control in the recommendation interface or touching a third control in the recommendation interface, where the third control is used to trigger display of the first interface.

[0173] It should be understood that, based on the above embodiments, after the vehicle determines the target parking space, the vehicle can recommend the target parking space to the user and display the target parking space on the first terminal device. The user only needs to set the destination as the target parking space through the first terminal device, so as to trigger the intelligent driving function of the vehicle, thereby controlling the vehicle to travel from the starting position to the target parking space.

[0174] Based on the above technical solutions, the user can be provided with destination-related information in various ways, so that the user can learn the related information of the target parking lot and / or the target parking space in advance, so as to reasonably instruct the vehicle, thereby helping to improve the user experience.

[0175] In some possible embodiments, the starting position is also referred to as a departure position of the vehicle. The starting position can be a parking space at the starting point, a roadside, or a position in the middle of a journey.

[0176] In some possible embodiments, when there are multiple target parking spaces, the user can select one target parking space as the destination from the multiple target parking spaces through the first terminal device.

[0177] In some possible embodiments, during the travel of the vehicle to the target parking space, the navigation function of the vehicle can be automatically started, and the navigation position of the vehicle can be acquired in real time. Therefore, whether the vehicle is currently located outside the target parking lot or inside the target parking lot can be determined by judging whether the navigation position of the vehicle enters the entrance position of the target parking lot, thereby further determining whether the driving mode of the vehicle needs to be automatically switched from the first driving mode to the second driving mode.

[0178] In some possible embodiments, the target parking lot opens a wireless network to the outside, so that the vehicle can automatically establish a connection with the target network of the target parking lot after entering the target parking lot. After the vehicle establishes a connection with the target network, a corresponding communication log or a communication connection response signaling is generated, and based on the communication log or the communication connection response signaling, it can be determined that the vehicle has entered the coverage range of the target network of the target parking lot, in other words, the vehicle has entered the target parking lot, and it can be further determined whether the driving mode of the vehicle needs to be automatically switched from the first driving mode to the second driving mode.

[0179] In some possible embodiments, the target network described above can be a local area network, a wireless network (such as Bluetooth or WiFi), or a dedicated short range communication (DSRC) network, etc.

[0180] In some possible embodiments, the target parking lot described above can be surrounded by an electronic fence, so that by judging whether the navigation position of the vehicle is located in the electronic fence of the target parking lot, it can be determined whether the vehicle is currently located outside the target parking lot or inside the target parking lot, thereby further determining whether the driving mode of the vehicle needs to be automatically switched from the first driving mode to the second driving mode.

[0181] It should be understood that, based on the method 300 described above, the vehicle end can provide the user with navigation from a starting position (such as a parking space at the starting point, a roadside, or a route being driven) to a target parking space, so that the vehicle can directly reach the parking space. Since the ending point is a specific parking space (target parking space), the vehicle can determine whether it has reached the target parking lot based on its own navigation position, and further determine whether it needs to switch the driving mode to the second driving mode by itself, so that the vehicle can normally enter the target parking space. In the entire operation process described above, the user does not need to manually switch the driving mode of the vehicle again.

[0182] In some possible embodiments, the position information of the vehicle currently located can be obtained through navigation map data, or the position information of the vehicle currently located can be calculated; or, the relevant data of the current surrounding environment of the vehicle can be obtained through a vehicle-mounted sensor, and the environment information of the vehicle currently located can be determined according to the relevant data of the current surrounding environment of the vehicle through an AI model built in the vehicle end decision module, and then the position information of the vehicle currently located can be calculated.

[0183] In some possible embodiments, the second driving mode described above includes a first sub-driving mode and / or a second sub-driving mode, the first sub-driving mode is used to control the vehicle to drive to the vicinity of the target parking space, and the second sub-driving mode is used to control the vehicle to park in the target parking space.

[0184] In some possible embodiments, in the case that the target parking space belongs to a target parking lot, the following operations can be performed during the process of controlling the vehicle to drive to the target parking space:

[0185] The vehicle drives from the starting position to the entrance of the target parking lot based on a first driving mode; in response to the vehicle reaching the entrance of the target parking lot, the vehicle drives to the vicinity of the target parking space based on a first sub-driving mode; in response to the vehicle reaching the vicinity of the target parking space, the vehicle parks into the target parking space based on a second sub-driving mode.

[0186] It should be understood that in the above scenario, the vehicle needs to pass through an outdoor road and then reach the target parking lot on the way from the starting position to the target parking space.

[0187] For example, the internal implementation of the above operations can be as follows:

[0188] When it is detected that the vehicle reaches the entrance of the target parking lot, the first driving mode in which the vehicle is currently located is switched to the first sub-driving mode; when the navigation position of the vehicle reaches the vicinity of the target parking space, the first sub-driving mode in which the vehicle is currently located is switched to the second sub-driving mode.

[0189] In some possible embodiments, in the case that the target parking space is located on the roadside, the following operations can be performed during the process of controlling the vehicle to drive to the target parking space:

[0190] The vehicle drives from the starting position to the vicinity of the target parking space based on a first driving mode; in response to the vehicle reaching the vicinity of the target parking space, the vehicle parks into the target parking space based on a second sub-driving mode.

[0191] For example, the internal implementation of the above operations can be as follows:

[0192] When it is detected that the vehicle reaches the vicinity of the target parking space, the first driving mode in which the vehicle is currently located is switched to the second sub-driving mode.

[0193] In some possible embodiments, since the target parking space located on the roadside is a virtual parking space or a painted parking space, the management service for the parking space is less, and the target parking space is more likely to be affected by external factors, resulting in great uncertainty about whether the target parking space is actually available for parking, for example, insufficient free space on the roadside where the target parking space is located, or the target parking space being occupied by other obstacles. Therefore, when it is detected that the vehicle reaches the vicinity of the target parking space, actual parking space information of the target parking space can be collected, for example, the free space on the roadside where the target parking space is located, the time period for stopping on the roadside where the target parking space is located, whether the target parking space needs to be charged with a corresponding parking management fee, and relevant traffic rules of the road section where the target parking space is located, and then it is determined whether the target parking space can be parked into directly according to the actual parking space information. If the target parking space can be parked into, the vehicle parks into the target parking space based on the second sub-driving mode, that is, the first driving mode in which the vehicle is currently located is switched to the second sub-driving mode.

[0194] In some possible embodiments, the relevant information of the target parking space located on the roadside is not completely the same as the relevant information of the target parking space located in the target parking lot. In this case, the first target information in the first interface displayed by the display device can include the location information of the target parking space (for example, the road section where the target parking space is located), the time period for limiting parking of the target parking space (or the relevant traffic regulations), whether the target parking space needs to charge the corresponding parking management fee, the charging standard, and the like. Based on this scheme, even if the target parking space is located on the roadside, more relevant information of the target parking space can be provided to the user to assist the user to more reasonably instruct the vehicle, which helps to increase the user experience.

[0195] In some possible embodiments, in the case where the starting position of the vehicle is a starting parking space and the target parking space is located outside the starting parking space, the first sub-driving mode can also be used to control the vehicle to drive out of the starting parking space from the vicinity of the starting parking space, and the second sub-driving mode can also be used to control the vehicle to park out of the starting parking space. In the process of controlling the vehicle to drive to the target parking space, the following operations can be performed:

[0196] The vehicle parks out of the starting parking space based on the second sub-driving mode; in response to the vehicle parking out of the starting parking space, the vehicle drives out of the starting parking space based on the first sub-driving mode; in response to the vehicle reaching outside the starting parking space, the vehicle drives to the vicinity of the target parking space based on the first sub-driving mode; and in response to the vehicle reaching the vicinity of the target parking space, the vehicle parks into the target parking space based on the second sub-driving mode.

[0197] For example, the internal implementation of the above operations can be as follows:

[0198] Before the vehicle drives, the second sub-driving mode of the vehicle is activated; when it is detected that the vehicle parks out of the starting parking space, the second sub-driving mode of the vehicle is switched to the first sub-driving mode; and when it is detected that the vehicle reaches outside the starting parking space, the first sub-driving mode of the vehicle is switched to the first driving mode.

[0199] In some possible embodiments, before the vehicle drives, the vehicle can obtain the end point information in the last driving data. If the end point information in the last driving data indicates a parking space, the second sub-driving mode of the vehicle can be activated automatically, wherein the end point information can include the historical log generated by the vehicle in the process of parking into the parking space based on the second sub-driving mode.

[0200] Based on the technical solution, the position information of the vehicle is acquired in real time to determine whether the vehicle is located on an outdoor road, or in a target parking lot, or near a target parking space, so as to adaptively switch the corresponding driving mode without manual switching or activation by the user, thereby simplifying the user operation and reducing the user learning cost, and the intelligent driving of the vehicle from the current position to the target parking space can be triggered regardless of whether the target parking space is in the target parking lot or on the roadside, thereby improving the driving experience of the user.

[0201] In some possible embodiments, after the vehicle reaches the vicinity of the target parking space, in response to the case that the target parking space cannot be parked in currently, the display device can be controlled to display a fourth control for recommending an alternative target parking space; and then the vehicle can be controlled to drive into the alternative target parking space in response to a fourth operation of the fourth control.

[0202] FIG. 9 is a schematic diagram of a fourth control according to an embodiment of the present application.

[0203] Referring to FIG. 9, the fourth control can be located above a second interface, and the second interface can be used to display the reason why the target parking space cannot be parked in, the position information and type information of the alternative target parking space, and the like. The fourth control can be labeled with corresponding explanatory words, such as "go to park", "confirm", and the like.

[0204] In some possible embodiments, during the process of controlling the vehicle to drive into the alternative target parking space, the following operation can be performed:

[0205] In response to the distance between the alternative target parking space and the target parking space being greater than or equal to a second threshold value, the vehicle drives to the vicinity of the alternative target parking space based on a first sub-driving mode.

[0206] For example, the internal implementation of the above operation can be as follows:

[0207] In the case that the distance between the alternative target parking space and the target parking space is greater than or equal to the second threshold value, the second sub-driving mode of the vehicle is switched to the first sub-driving mode.

[0208] In some possible embodiments, the first driving mode is a high-speed or urban NOA mode or a high-speed or urban intelligent driving navigation cruise assist (NCA) mode; the second driving mode is a VPD mode or an AVP mode; the first sub-driving mode is a parking lot route searching mode; and the second sub-driving mode is an APA mode or an RPA mode.

[0209] It should be understood that the APA function can be part of the AVP function, and the RPA function can be part of the VPD function.

[0210] In some possible embodiments, when the vehicle arrives near the target parking space or starts from the starting parking space, the vehicle can perform parking space sensing to determine whether the driver seat is occupied by a driver, and in response to the driver seat being occupied by the driver, the vehicle can park into the target parking space based on the APA mode or park out of the starting parking space based on the APA mode; in response to the driver seat not being occupied by the driver or the driver getting off, the vehicle can park into the target parking space based on the RPA mode or park out of the starting parking space based on the RPA mode when a preset condition is met, and then can drive out of the parking lot based on the VPD mode, where the preset condition includes that there is no person within a certain distance around the vehicle.

[0211] Similarly, when the vehicle arrives at the target parking lot, the vehicle can also perform parking space sensing to determine whether the driver seat is occupied by a driver, and in response to the driver seat being occupied by the driver, the vehicle can navigate to the target parking space based on the AVP mode; in response to the driver seat not being occupied by the driver, the vehicle can navigate to the target parking space based on the VPD mode.

[0212] It should be understood that the process of selecting the APA mode or the RPA mode by the vehicle is essentially a process of determining the second sub-driving mode, and the process of selecting the AVP mode or the VPD mode by the vehicle is essentially a process of determining the second driving mode.

[0213] In some possible embodiments, since the second sub-driving mode belongs to the second driving mode, the second sub-driving mode can be determined directly after the second driving mode is determined, for example, when the second driving mode is determined to be the VPD, the second sub-driving mode can be determined to be the RPA accordingly; or when the second driving mode is determined to be the AVP, the second sub-driving mode can be determined to be the APA accordingly. In some possible embodiments, the vehicle can include a first driving mode, a second driving mode, a third driving mode, and a fourth driving mode, where the first driving mode can be the AVP mode, the second driving mode can be the APA mode, the third driving mode can be the VPD mode, and the fourth driving mode can be the RPA mode. When the vehicle starts the intelligent driving to the target parking space, the vehicle can automatically sense the driver seat and then select a mode suitable for the current driving scenario from the driving modes for intelligent driving.

[0214] Based on the above technical solutions, considering that the vehicle has more driving modes and parking modes, the vehicle can automatically switch various suitable driving modes and / or parking modes based on the relevant information such as the vehicle position, the environment around the vehicle, the parking space state, and whether the driver gets off, so as to realize end-to-end parking or parking from a parking space to another parking space.

[0215] It should be noted that with the iteration of technology, the names of the above NCA, VPD, AVP and APA can be changed, and the corresponding technologies after the name change can still be applicable to the embodiments of the present application. In addition, the above parking lot navigation mode can also be represented by the corresponding noun abbreviation.

[0216] In some possible embodiments, the vehicle can obtain environmental data through the perception module, and input the data into a trained neural network model, such as an AI model. Through the deduction of the neural network model, the current driving scene of the vehicle is analyzed, and finally a planning path to the target parking space is determined and output. The vehicle travels along the planning path, and directly drives into the target parking space, or automatically triggers the second sub-driving mode of the vehicle when reaching the vicinity of the target parking space.

[0217] FIG. 10 is a flow diagram of a method 1000 for determining a target parking space according to an embodiment of the present application.

[0218] Referring to FIG. 10, the method 1000 can include the following steps:

[0219] S1010: Determine N candidate parking lots near the first destination that can assist the vehicle in automatic parking, and the candidate parking lots include M idle parking spaces, and N and M are greater than 0.

[0220] It should be understood that the above-mentioned first destination nearby refers to a first range centered on the first destination. The first range can be a circular area, a square area, or an area of other shapes.

[0221] In addition, the parking lot that can assist the vehicle in automatic parking refers to the parking lot that supports the AVP or VPD function of the vehicle.

[0222] For example, if the vehicle can automatically park in the parking space of the parking lot through the VPD mode, the cloud server needs to store at least one set of historical learning information uploaded by the vehicle after parking in the parking lot before. The historical learning information includes memorized parking route information, parking space position information and parking space environment information. Combined with the sensing technology of the vehicle, the vehicle can obtain the real-time road conditions inside the parking lot in time to assist the vehicle in automatic parking. Moreover, when the number of idle parking spaces in the parking lot near the first destination that can assist the vehicle in automatic parking is determined to be 0, even if the cloud server stores at least one set of historical learning information uploaded by the vehicle after parking in the parking lot before, the parking lot cannot be determined as a candidate parking lot.

[0223] Therefore, based on the above step S1010, a parking lot that is identified as a candidate parking lot needs to meet the following two conditions: 1. The cloud server stores at least one set of historical learning information uploaded by a vehicle after it previously parked in the parking lot; 2. The number of available parking spaces is greater than 0.

[0224] In some possible embodiments, the aforementioned at least one set of historical learning information may also be shared by vehicles of the same model after parking in the parking lot.

[0225] In some possible embodiments, the vehicle can determine the location coordinates of the first destination based on the navigation map provided by the cloud server, and search for candidate parking lots within a first area corresponding to the navigation map based on these coordinates. It should be understood that the navigation map provides information on all buildings or facilities near the first destination, including parking lot information such as whether the parking lot has automatic parking assistance capabilities and the number of available parking spaces.

[0226] In some possible embodiments, if no candidate parking lots are found within a first range centered on the first destination, the first range can be extended to a second range, and a search can be conducted within the second range to determine whether there are parking lots that meet the requirements in areas outside the first range.

[0227] S1020: Select the target parking lot from N candidate parking lots.

[0228] In some possible embodiments, when N=1, the candidate parking lot can be directly identified as the target parking lot. When N>1, it is necessary to filter the N candidate parking lots in combination with the corresponding screening conditions. The screening process is detailed in the following embodiments.

[0229] S1030: Obtain information on available parking spaces in the target parking lot. This information includes the location and type of each available parking space. The type information is used to indicate the geometric parameters and ancillary facilities of the available parking spaces.

[0230] It should be understood that since the vacant parking space information includes relevant information for each vacant parking space, this vacant parking space information also implicitly contains information about the number of vacant parking spaces in the target parking lot.

[0231] In some possible embodiments, the vehicle can also obtain real-time information on available parking spaces corresponding to each available parking space in the target parking lot by accessing the aforementioned cloud server.

[0232] In some possible embodiments, the location information of the idle vehicle includes a parking space identification number, which can correspond to a specific location of the parking space in the corresponding floor; when the parking lot includes multiple floors, the location information can further include a floor of the parking lot where the parking space is located.

[0233] In some possible embodiments, the type information of the idle parking space includes a vehicle type corresponding to the idle parking space, such as a large vehicle, a medium vehicle, a small vehicle, a sedan, or the like, or a length-width value of the idle parking space, which is used to indicate a geometric parameter of the idle parking space. The type information of the idle parking space can further include whether the idle parking space is provided with a charging pile, whether the idle parking space is provided with a water pool, or the like, which is used to indicate an accessory facility of the idle parking space.

[0234] S1040: According to the idle parking space information, a target parking space is selected from the M idle parking spaces.

[0235] It should be understood that the content of the idle parking space information can provide that the idle parking space can meet some preferences of the user. For example, according to the idle parking space information, it can be determined that the distance between the parking space and the pedestrian passage, and whether the parking space has a charging pile for vehicle charging. Therefore, the idle parking space information is an important basis for selecting the target parking space from the M idle parking spaces, and the target parking space should be the parking space that can best meet the user's preferences and is recommended to the user from the M idle parking spaces.

[0236] Based on the above technical solutions, not only can the parking lot with the function of assisting the automatic parking of the vehicle be selected from the multiple parking lots near the first destination, but also whether the parking lot has an idle parking space and the related information of the idle parking space can be obtained in real time, so as to select the target parking space that meets the user's preferences for the user and recommend it to the user. Therefore, the driving experience of the user is further improved.

[0237] In some possible embodiments, when it is determined that the number of candidate parking lots near the first destination that can assist the automatic parking of the vehicle is greater than 1, that is, N is greater than 1, the target parking lot can be selected from the N candidate parking lots in the following manner:

[0238] 1. A candidate parking lot closest to the starting position is selected as the target parking lot from the N candidate parking lots.

[0239] 2. According to the first indication information input by the user, a target parking lot is selected from the N candidate parking lots, and the first indication information is used to indicate the target parking lot in the N candidate parking lots.

[0240] Based on the above technical solution, the user is preferentially recommended the candidate parking lot closest to the starting position as the target parking lot, so as to save the driving time of the user as much as possible. In addition, the user is given a way to independently select the target parking lot, so as to further increase the flexibility of the solution and give the user more control, thereby helping to improve the driving experience of the user.

[0241] In some possible embodiments, when it is determined that the number of idle parking spaces in the target parking lot is greater than 1, that is, the above M is greater than 1, the target parking space can be selected from the M idle parking spaces in the following way:

[0242] 1. Select L first candidate parking spaces with geometric parameters matching the vehicle from the M idle parking spaces, L being a positive integer; and select the first candidate parking space closest to the pedestrian passage as the target parking space from the L first candidate parking spaces.

[0243] In some possible embodiments, the pedestrian passage can include a staircase and an elevator, and the vehicle end can preferentially select the first candidate parking space closest to the elevator as the target parking space from the L first candidate parking spaces, and if the selection fails, the first candidate parking space closest to the staircase is selected as the target parking space from the L first candidate parking spaces.

[0244] Based on the above technical solution, the target parking space can meet the requirements of the user driving the vehicle under the premise of guaranteeing that the target parking space can meet the requirements of the user driving the vehicle, and the target parking space closest to the pedestrian passage is selected for the user as much as possible, so that the user can more conveniently leave the parking lot, the safety problem of the user walking in the parking lot is considered, and the route of the user leaving the parking lot is reduced as much as possible, thereby improving the safety of the user.

[0245] 2. Obtain the remaining power of the vehicle; and preferentially select K second candidate parking spaces with the attached facilities including charging piles from the L first candidate parking spaces in the case that the remaining power is lower than a first threshold, K being a positive integer, and then select the second candidate parking space closest to the pedestrian passage as the target parking space from the K second candidate parking spaces.

[0246] In some possible embodiments, if the remaining power of the vehicle is not lower than the above first threshold, the M idle parking spaces can be directly selected by the above method 1.

[0247] Based on the above technical solution, the charging demand of the vehicle is considered, and the parking space with the charging pile is preferentially recommended for the user when the remaining power of the vehicle is low, so that the vehicle can fully utilize the parking time to charge, thereby further improving the user experience.

[0248] In some possible embodiments, after the vehicle reaches the target parking space, in a case where it is determined that the target parking space is currently unavailable for parking, a first candidate parking space closest to the pedestrian passage is selected as a backup target parking space from the remaining (L-1) first candidate parking spaces, L is greater than 1, or a second candidate parking space closest to the pedestrian passage is selected as a backup target parking space from the remaining (K-1) second candidate parking spaces, K is greater than 1; and the vehicle is controlled to park in the backup target parking space.

[0249] In some possible embodiments, the case where the target parking space is currently unavailable for parking includes that there is an obstacle in the target parking space, an edge portion of the target parking space is occupied by the obstacle, there is an obstacle at an entrance of the target parking space, and the like, where the obstacle can be another vehicle, a pedestrian, a parking lock, or the like.

[0250] Based on the technical solutions described above, in consideration of the scenario where the target parking space is temporarily occupied and unavailable for parking, the vehicle can continue to select a backup target parking space from the remaining candidate parking spaces, and the vehicle is controlled to park in the backup target parking space, so as to make a corresponding response to the random event related to parking, thereby helping to improve the flexibility of parking.

[0251] In some possible embodiments, in the process of controlling the vehicle to park in the backup target parking space, the following operations can also be performed:

[0252] The distance between the backup target parking space and the target parking space is determined; and in a case where the distance between the backup target parking space and the target parking space or the current position of the vehicle is greater than or equal to a second threshold, the second sub-driving mode is switched to the first sub-driving mode, so as to realize path finding of the vehicle in the target parking lot to the backup target parking space. Or,

[0253] The distance between the backup target parking space and the current navigation position of the vehicle is determined; and in a case where the distance between the backup target parking space and the current navigation position of the vehicle is greater than or equal to a second threshold, the second sub-driving mode is switched to the first sub-driving mode, so as to realize path finding of the vehicle in the target parking lot to the backup target parking space.

[0254] It should be understood that, when the vehicle reaches the vicinity of the target parking space, the vehicle can automatically switch the driving mode to the second sub-driving mode described above, so that the vehicle can perform the related operation of automatic parking, but it is determined that the target parking space is temporarily unavailable for parking, and the backup target parking space is far away, so it is necessary to switch the current second sub-driving mode of the vehicle to the first sub-driving mode, so that the vehicle can find a path to the backup target parking space. When it is determined that the vehicle reaches the vicinity of the backup target parking space, the first sub-driving mode can also be automatically switched to the second sub-driving mode.

[0255] In some possible embodiments, in a case where the distance between the alternative target parking space and the current position of the target parking space or the vehicle is less than the second threshold value, or in a case where the distance between the alternative target parking space and the current navigation position of the vehicle is less than the second threshold value, for example, the alternative target parking space is opposite to the target parking space, the operation of switching the second sub-driving mode to the first sub-driving mode can not be performed, and the second sub-driving mode can be directly maintained to control the vehicle to park in the alternative target parking space.

[0256] Based on the technical solutions described above, when the vehicle temporarily determines that the alternative target parking space needs to be parked in, whether the second sub-driving mode of the vehicle needs to be switched to the first sub-driving mode can be determined according to the distance information of the alternative target parking space, and if needed, the vehicle can be automatically switched without human intervention, thereby helping to further improve the driving experience of the user.

[0257] It can be known from the above two target parking space screening methods that in the process of screening the target parking space, corresponding screening conditions can be set, and priorities can be set for the screening conditions.

[0258] For example, when the remaining power of the vehicle is low, candidate parking spaces with charging piles are preferentially screened out, and then candidate parking spaces closest to the elevator entrance are screened out from the screened candidate parking spaces as target parking spaces, or candidate parking spaces closest to the stair entrance are screened out as target parking spaces if the parking lot does not have an elevator.

[0259] For example, when the remaining power of the vehicle is high, candidate parking spaces closest to the elevator entrance are preferentially screened out as target parking spaces, or candidate parking spaces closest to the stair entrance are screened out as target parking spaces if the parking lot does not have an elevator.

[0260] In some possible embodiments, in a case where the remaining power of the vehicle is not less than the first threshold value, the above-described manner 1 can be directly used to screen the M idle parking spaces.

[0261] In some possible embodiments, if the target parking space screened out based on the above-described target parking space screening method is multiple, the target parking space can be screened out in the following manner:

[0262] Target parking spaces on the floor where the user is currently located are preferentially screened out, if the screened target parking spaces are still multiple, the target parking spaces are randomly recommended to the user or are all presented to the user to wait for an indication of the user, if there is no target parking space on the floor where the user is currently located, target parking spaces closest to the floor where the user is located are screened out, if the screened target parking spaces are still multiple, the target parking spaces are randomly recommended to the user or are all presented to the user to wait for an indication of the user.

[0263] In some possible embodiments, the vehicle can further select the target parking space from the M candidate parking spaces according to a second indication information input by the user, the second indication information being used to indicate the target parking space in the M candidate parking spaces.

[0264] Based on the technical solutions described above, the target parking space near the first destination can be recommended to the user before the vehicle goes to the first destination, even if the user has never been to the target parking lot of the first destination, the user can be assisted to conveniently park the vehicle in the parking space that meets the user's preference.

[0265] For the convenience of understanding, the automatic driving method and the corresponding embodiment scheme proposed by the embodiments of the present application are described in detail below in combination with a specific application example. For the convenience of description, the automatic driving method proposed by the embodiments of the present application is referred to as the intelligent driving function of the vehicle hereinafter.

[0266] In some possible embodiments, in the process of executing the method 300 described above, if a target parking lot near the first destination is found that can assist the vehicle in automatic parking, the related information of the target parking lot found can be provided to the user through a user graphical interface.

[0267] The user graphical interface described above can be presented through the first terminal device described above.

[0268] FIG. 11 is a schematic diagram of a user graphical interface 1100 proposed by an embodiment of the present application.

[0269] As shown in (a) of FIG. 11, the user graphical interface 1100 can include at least part of a navigation map and the recommendation interface mentioned in the foregoing embodiments, and the recommendation interface can display the following information: the road position of the entrance of the target parking lot found, the function (for example, the AVP or VPD function) that supports the automatic parking of the vehicle, the number of parking spaces in the parking lot, and the position information of the target parking space.

[0270] The recommendation interface described above can be presented in the form of an electronic card, and the electronic card can respond to the touch operation of the user. The first control described above can be the "go to parking" control shown in FIG. 11, and the description text of the control can be replaced, for example, replaced with "start intelligent driving" and the like. If the vehicle responds to the action of the user touching the control, it means that the user indicates to the vehicle to start the intelligent driving function from the current position to the target parking space. The vehicle can directly reach the parking space through the intelligent driving function, and the driving mode is automatically switched according to the position of the vehicle during the intelligent driving, for example, NCA, AVP or APA, and the user does not need to perform the switching operation of each driving mode.

[0271] In some possible embodiments, if there are multiple routes from the current location to the target parking space, after responding to the operation of the user touching the "go to parking" control, another recommendation interface can be presented to the user, which can be in the form of an electronic list showing the multiple routes.

[0272] In some possible embodiments, the electronic list can be annotated with the travel time, the distance, the number of traffic lights, and the like of each route. At this time, the user can determine the route clicked by the user in response to the touch operation on the electronic list, and then the intelligent driving function can be started to directly reach the parking space. Alternatively, the electronic list can also be provided with a confirmation control, and the corresponding instruction text of the confirmation control can be "start navigation" or other text. After the user selects a route by touch and clicks the confirmation control, the intelligent driving function can be started to directly reach the parking space. After the user selects a route, the current remaining power of the vehicle and the distance that the vehicle can travel based on the remaining power can be displayed to the user, so as to assist the user in selecting a suitable route.

[0273] For example, the scenario of the full-range intelligent driving described above can be as follows:

[0274] Suppose the starting location is a parking space in a parking lot supporting the AVP function, after the user inputs the destination and clicks the "go to parking" control in the recommendation interface of the destination parking lot presented by the first terminal device, the vehicle intelligent driving function is activated. The vehicle first exits the starting parking space in the APA mode; after exiting the parking space, the vehicle automatically switches to the AVP mode and exits the parking lot of the starting parking space; after exiting the parking lot, the vehicle automatically switches to the NCA mode and travels to the first destination through an outdoor road; after entering the target parking lot, the vehicle automatically switches to the AVP mode and travels to the vicinity of the target parking space; and finally, the vehicle automatically switches to the APA mode and parks in the target parking space.

[0275] In some possible embodiments, the other area of the recommendation interface shown in (a) of FIG. 11 except the first control can also respond to the touch operation of the user. When responding to the touch operation of the user on the other area, the user can be presented with destination parking related information, such as the size of the parking lot (the distance to the parking lot, the number of parking spaces, the number of floors), the road where the entrance of the parking lot is located (for example, XXX in (a) of FIG. 11), the target parking space information (the type of parking space, the attached facilities, the floor where the parking space is located, and the like).

[0276] Referring to (b) of FIG. 11, in this scenario, the target parking space is located on the roadside, i.e., the target parking space can be a painted parking space or a virtual parking space on the roadside, etc., at this time, the recommendation interface in the user interface 1100 can display the following information: the road location (for example, XXX in (b) of FIG. 11) of the target parking space searched above, the length of the road segment (hereinafter referred to as the target road segment) available for parking, and the expected position information (for example, the middle, end or beginning of the road segment) of the target parking space, etc.

[0277] The expected position information of the target parking space can be determined by the real-time parking condition information of the road segment on the cloud server, and the real-time parking condition information includes the number of vehicles parked on the target road segment and the vehicle type of each vehicle, etc., which can be uploaded by the vehicles parked on the target road segment.

[0278] Similar to the embodiment corresponding to (a) of FIG. 11, the recommendation interface can also be presented in the form of an electronic card, and the electronic card can respond to the touch operation of the user. The first control can be the "go to parking" control shown in (b) of FIG. 11, and the description text of the control can be replaced, for example, replaced with "start intelligent driving" or the like. If the vehicle responds to the user's action of touching the control, it means that the user instructs the vehicle to start the intelligent driving function from the current location to the target parking space. The vehicle can directly reach the parking space through the intelligent driving function, and the driving mode is automatically switched according to the location of the vehicle during intelligent driving, for example, NCA, AVP or APA, etc. The user does not need to perform the switching operation of each driving mode.

[0279] The interaction logic of the electronic card in (b) of FIG. 11 is the same as that in (a) of FIG. 11. The interaction logic of the electronic card is described in detail in the foregoing corresponding embodiment, which is not repeated here.

[0280] For example, the scenario of the full-range intelligent driving can be as follows:

[0281] Suppose the starting position is a parking space in a parking lot supporting the AVP function, after the user inputs the destination and clicks the "go to parking" control in the recommendation interface of the destination parking lot presented by the first terminal device, the vehicle intelligent driving function is activated. The vehicle first parks out of the starting parking space in the APA mode; after parking out of the parking space, it is automatically switched to the AVP mode and drives out of the parking lot; after driving out of the parking lot, it is automatically switched to the NCA mode and drives on the outdoor road to the vicinity of the target parking space, and then automatically switches to the APA mode and parks into the target parking space.

[0282] When it is detected that the vehicle is near the target parking space, the actual parking space information of the current target parking space can be collected, such as the free space of the roadside where the target parking space is located, the time period of the roadside where the target parking space is located, whether the target parking space needs to be charged for parking management, and the relevant traffic rules of the road section where the target parking space is located. Then, whether the vehicle can be parked directly is determined according to the actual parking space information. If the vehicle can be parked directly, the vehicle is parked in the target parking space based on the second sub-driving mode, that is, the first driving mode of the vehicle is switched to the second sub-driving mode.

[0283] In some possible embodiments, other areas of the recommendation interface shown in (b) of FIG. 11 can also respond to the touch operation of the user. When the user touches the other areas, the user can be presented with the relevant information of the target parking space, that is, the first target information. At this time, the first target information can include the location information of the target parking space (for example, the road section where the target parking space is located), the time period of the target parking space (or the relevant traffic rules), whether the target parking space needs to be charged for parking management, and the charging standard.

[0284] Based on the above technical solutions, before the vehicle starts intelligent driving, the user can be provided with the information related to the destination in various ways, so that the user can know the relevant information of the target parking lot and / or target parking space in advance, so that the user can reasonably instruct the vehicle, which helps to improve the user experience.

[0285] FIG. 12 is a schematic diagram of another user graphical interface 1200 provided by the embodiments of the present application.

[0286] Referring to FIG. 12, the user graphical interface 1200 can provide the user with multiple ways to input the destination.

[0287] In some possible embodiments, referring to (a) of FIG. 12, the user graphical interface 1200 includes at least part of the navigation map and a search box (that is, a second control mentioned in the foregoing embodiments). When the user inputs the name of the destination through the search box, the cache map data of the navigation map or the database of the cloud server can be searched to determine the location of the destination in the navigation map, so as to determine the destination.

[0288] When the destination is searched, the parking lot and the parking space of the destination can be screened to associate the recommendation interface shown in FIG. 11 with the searched destination name.

[0289] In some possible embodiments, when the destination name input by the user is incomplete, all the locations matching the user input field can be presented, and then the parking lots and parking spaces of each destination are filtered based on the method of the corresponding embodiments described above, and the determined recommended interface corresponding to the multiple locations is associated with the corresponding destination name respectively.

[0290] In some possible embodiments, as shown in (b) of FIG. 12, the user graphical interface 1200 can include at least part of a navigation map, and the navigation map interface can respond to the touch operation of the user. After responding to the touch operation of the user on a building or landmark on the navigation map, a pin (i.e., a second control mentioned in the foregoing embodiments) can be set on the building or landmark as the destination indicated by the user, and then the parking lots and parking spaces of the destination are filtered based on the method of the corresponding embodiments described above, so as to associate and display the recommended interface shown in FIG. 11 under the name of the building or landmark.

[0291] In some possible embodiments, as shown in (c) of FIG. 12, the user graphical interface 1200 can include at least part of a navigation map. After responding to the touch operation of the user on a non-building or landmark (for example, a point on a road segment) on the navigation map, a pin (i.e., a second control mentioned in the foregoing embodiments) can be set at the position corresponding to the touch point as the destination indicated by the user, and then the parking lots and parking spaces of the destination are filtered based on the method of the corresponding embodiments described above, so as to associate and display the recommended interface shown in FIG. 11 under the name of the road segment corresponding to the touch point.

[0292] In some possible embodiments, in the process of activating the intelligent driving function of the vehicle to make the vehicle directly reach the parking space, a movable bubble pattern on the navigation map can represent the current position information of the vehicle, and the bubble can be attached with driving-related information, for example, the number of traffic lights on the road segment, the related information of the target parking space, or whether the target parking space can be directly reached by intelligent driving.

[0293] Based on the technical solutions described above, the user is provided with multiple ways to indicate the destination to the vehicle, the flexibility of indicating the destination by the user is increased, and the use experience of the user is improved.

[0294] FIG. 13 is a schematic diagram of another user graphical interface 1300 provided by the embodiments of the present application.

[0295] As shown in FIG. 13, the first terminal device can provide the user with multiple ways to start the intelligent driving function of directly reaching the parking space, and each way corresponds to a different timing of starting the intelligent driving function of directly reaching the parking space.

[0296] In some possible embodiments, as shown in (a) of FIG. 13, when the user is driving the vehicle using the navigation map, the user can search for a parking lot capable of assisting the vehicle in automatic parking near a destination based on the user's operation on the second control. If the screening is successful, the user can be presented with information about the target parking lot and the target parking space through the recommendation interface shown in FIG. 11.

[0297] In some possible embodiments, as shown in (b) of FIG. 13, whether the user is driving the vehicle using the navigation map or not, the user can set a pin on the navigation map by directly touching the navigation map. At this time, the pin position can be taken as the destination, and a parking lot capable of assisting the vehicle in automatic parking near the destination can be searched. If the screening is successful, the user can be presented with information about the target parking lot and the target parking space through the recommendation interface shown in FIG. 11.

[0298] Alternatively, during the driving of the vehicle, a parking lot near the current position can be obtained from the cloud server, and a pin can be set at the entrance of each parking lot. In response to the user's operation on the pin, the parking lot corresponding to the pin can be determined as the target parking lot, and information about the target parking lot and the target parking space can be presented to the user through the recommendation interface shown in FIG. 11.

[0299] In some possible embodiments, as shown in (c) of FIG. 13, when the user is driving the vehicle using the navigation map, the user can automatically search for a parking lot capable of assisting the vehicle in automatic parking near a destination when it is determined that the distance between the current position of the vehicle and the destination is less than or equal to a distance threshold. If the screening is successful, the user can be presented with information about the target parking lot and the target parking space through a pop-up window, and the user can be waited for an indication. In response to the user's touch operation on the "go to parking" (the text description can be replaced) control in the pop-up window, the intelligent driving direct parking function is started, and the corresponding driving mode of the vehicle is automatically activated or switched, so that the vehicle enters the target parking space. The first distance threshold can be a pre-set threshold.

[0300] Based on the above technical solutions, the user is provided with multiple ways and opportunities to start the intelligent driving function, and the target parking space can be recommended to the user at an appropriate time, which helps to further improve the user experience.

[0301] FIG. 14 is a schematic diagram of a pin state according to an embodiment of the present application.

[0302] As shown in FIG. 14, the pin (for example, the second control in the foregoing embodiments) can have multiple forms to provide different information to the user.

[0303] In some possible embodiments, when the target parking lot is not selected by the user, the marker corresponding to the target parking lot in the navigation map is colored in a first color (to indicate that the target parking lot is not selected by the user), and the location information of the target parking lot, for example, the name of the target parking lot or the name of the building or the road segment information where the target parking lot is located, is displayed below the marker.

[0304] In some possible embodiments, when the target parking lot is selected by the user, the marker corresponding to the target parking lot in the navigation map is colored in a second color (to indicate that the target parking lot is selected by the user), at this time, the recommendation interface shown in FIG. 11 can be popped up, and the parking space related information of the target parking lot, for example, the number of idle parking spaces, can be marked above the marker.

[0305] In some possible embodiments, during the process in which the vehicle starts the intelligent driving to the target parking space, the marker can also be associated with a touchable bubble, and after responding to the touch operation of the user on the bubble, the interface for changing the current target parking lot or target parking space can be provided for the user, so as to realize the function of temporarily changing the target parking lot or target parking space by the user.

[0306] In some possible embodiments, when the vehicle drives to the vicinity of the end position, the marker for indicating the end position can pop up a bubble, which can be filled with corresponding explanatory text, for example, “recommended parking space near the end position”, and after responding to the touch operation of the user on the bubble, the end position can be taken as the destination to perform the operation of the method 300 and related embodiments proposed in the embodiments of the present application.

[0307] Based on the above technical solutions, by using the flexible and dynamic marker form, the related information about the destination can be provided for the user when different operations are completed, so that the user can quickly and accurately obtain the related information about the destination, and it is helpful for the user to more conveniently determine whether to initiate the vehicle intelligent driving function to the target parking space.

[0308] It should be understood that the user graphical interface and the marker shown in FIGS. 11 to 14 are only examples, and a person skilled in the art can flexibly adjust the structure and graphics of the user graphical interface based on personal design preferences, and the embodiments of the present application do not limit this.

[0309] In addition, the embodiments of the present application also provide a device for implementing any one of the above methods, for example, providing an automatic driving device, which includes units (or means) for implementing any one of the above automatic driving methods.

[0310] FIG. 15 is a schematic block diagram of an automatic driving device 1500 provided by an embodiment of the present application.

[0311] Referring to FIG. 15, the device 1500 includes:

[0312] The response unit 1510 is configured to, in response to a first operation on a first control displayed by the display device, the first operation being used to indicate a target parking space through the first control.

[0313] The control unit 1520 is configured to control the vehicle to drive to the target parking space, and during the driving of the vehicle, the vehicle drives on the outdoor road based on a first driving mode, and the vehicle drives into the target parking space based on a second driving mode.

[0314] In some possible embodiments, before the first operation, the response unit 1510 is further configured to, in response to a second operation on a second control displayed by the display device, the second control being a search control; and wherein the second operation comprises: inputting a name of a first destination through the second control, the target parking space being located near the first destination.

[0315] In some possible embodiments, the display device further displays a navigation map, and before the first operation, the response unit 1510 is further configured to, in response to a second operation on a second control displayed by the display device, the second control being a pin; and wherein the second operation comprises: setting the second control at a first position on the navigation map, the first position corresponding to the first destination, and the target parking space being located near the first destination.

[0316] In some possible embodiments, the first position corresponds to a position of a landmark used to indicate the first destination, or the first position corresponds to an arbitrary position on a road adjacent to the first destination.

[0317] In some possible embodiments, the response unit 1510 is further configured to, in response to the second operation on the second control, cause the display device to display the first control; or in response to the vehicle reaching near the first destination, cause the display device to display the first control.

[0318] In some possible embodiments, the response unit 1510 is further configured to, in response to the second operation on the second control, cause the second control to be in a first state, the second control in the first state being used to indicate a number of idle parking spaces near the first destination; or in response to the first operation on the first control, cause the second control to be in a second state, the first control in the second state being used to indicate position information of the target parking space; or in response to the vehicle reaching near the first destination, cause the second control to be in a third state, the second control in the third state being used to trigger the display of the first control.

[0319] In some possible embodiments, the display device further displays a first interface, the first interface being used to display first target information, the first target information comprising: position information and type information of the target parking space, the type information being used to indicate geometric parameters and auxiliary facilities of the parking space.

[0320] In some possible embodiments, when the target parking space belongs to a target parking lot, the first target information further includes: a parking mode supported by the target parking lot, the parking mode corresponding to the second driving mode.

[0321] In some possible embodiments, the second driving mode includes a first sub-driving mode and / or a second sub-driving mode, the first sub-driving mode being used for controlling the vehicle to drive to the vicinity of the target parking space, and the second sub-driving mode being used for controlling the vehicle to park in the target parking space.

[0322] In some possible embodiments, when the target parking space belongs to a target parking lot, and the starting position of the vehicle is located outside the target parking lot, in response to the vehicle driving from the starting position to the entrance of the target parking lot based on the first driving mode, the response unit 1510 is further configured to: in response to the vehicle reaching the entrance of the target parking lot, control the vehicle to drive to the vicinity of the target parking space based on the first sub-driving mode; and in response to the vehicle reaching the vicinity of the target parking space, control the vehicle to park in the target parking space based on the second sub-driving mode.

[0323] In some possible embodiments, when the target parking space is located on the roadside, and in response to the vehicle driving from the starting position to the vicinity of the target parking space based on the first driving mode, the response unit 1510 is further configured to: in response to the vehicle reaching the vicinity of the target parking space, control the vehicle to park in the target parking space based on the second sub-driving mode.

[0324] In some possible embodiments, the first sub-driving mode is further used for controlling the vehicle to drive out of a starting parking lot from the vicinity of a starting parking space, and the second sub-driving mode is further used for controlling the vehicle to park out of the starting parking space, the starting position of the vehicle is the starting parking space, and the target parking space is located outside the starting parking lot, in response to the vehicle parking out of the starting parking space based on the second sub-driving mode, the response unit 1510 is further configured to: in response to the vehicle parking out of the starting parking space, control the vehicle to drive out of the starting parking lot based on the first sub-driving mode; in response to the vehicle reaching outside the starting parking lot, control the vehicle to drive to the vicinity of the target parking space based on the first sub-driving mode; and in response to the vehicle reaching the vicinity of the target parking space, control the vehicle to park in the target parking space based on the second sub-driving mode.

[0325] In some possible embodiments, in response to the vehicle reaching the vicinity of the target parking space, the response unit 1510 is further configured to: in response to the target parking space being currently unavailable for parking, control the display device to display a fourth control, the fourth control being used for recommending an alternative target parking space; and in response to a fourth operation of the fourth control, control the vehicle to drive into the alternative target parking space.

[0326] In some possible embodiments, in response to a distance between the alternative target parking space and the target parking space being greater than or equal to a second threshold, the response unit 1510 is further configured to control the vehicle to drive to the vicinity of the alternative target parking space based on the first sub-driving mode.

[0327] The embodiment of the present application further provides an automatic driving device, which comprises a processor and a memory, wherein the processor and the memory are connected, the memory is used for storing program code, and the processor is used for calling the program code to execute any one of the automatic driving methods provided by the embodiments of the present application.

[0328] The embodiment of the present application further provides a vehicle comprising any one of the automatic driving devices provided by the embodiments of the present application.

[0329] Those skilled in the art can understand that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software mode depends on the specific application and design constraints of the technical solutions. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0330] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-mentioned system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0331] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be realized by other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0332] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment of the present application.

[0333] In addition, each functional unit in each embodiment 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.

[0334] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0335] The above merely provides 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 encompassed 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 method of autonomous driving, characterized by, The method comprises: in response to a first operation on a first control displayed by the display device, the first operation being used to indicate a target parking space through the first control; controlling the vehicle to drive to the target parking space, during the driving of the vehicle, the vehicle drives on an outdoor road based on a first driving mode, and the vehicle drives into the target parking space based on a second driving mode.

2. The method of claim 1, wherein, Before the first operation, the method further comprises: in response to a second operation on a second control displayed by the display device, the second control being a search control, the second operation comprising: inputting a name of a first destination through the second control, the target parking space being located near the first destination.

3. The method of claim 1, wherein, The display device also displays a navigation map, and before the first operation, the method further comprises: in response to a second operation on a second control displayed by the display device, the second control being a landmark, the second operation comprising: setting the second control at a first position on the navigation map, the first position corresponding to the first destination, and the target parking space being located near the first destination.

4. The method of claim 3, wherein, The first position corresponds to a position of a landmark used to indicate the first destination, or the first position corresponds to an arbitrary position on a road adjacent to the first destination.

5. The method according to any one of claims 2 to 4, characterized in that, The method further comprises: in response to the second operation on the second control, controlling the display device to display the first control; or in response to the vehicle reaching near the first destination, controlling the display device to display the first control.

6. The method according to claim 3 or 4, characterized in that, The method further comprises: in response to the second operation on the second control, the second control being in a first state, the second control in the first state being used to indicate a number of idle parking spaces near the first destination; or in response to the first operation on the first control, the second control being in a second state, the first control in the second state being used to indicate position information of the target parking space; or in response to the vehicle reaching near the first destination, the second control being in a third state, the second control in the third state being used to trigger the display of the first control.

7. The method according to any one of claims 1 to 6, characterized in that, The display device also displays a first interface, the first interface being used to display first target information, the first target information comprising: position information and type information of the target parking space, the type information being used to indicate geometric parameters and auxiliary facilities of the parking space.

8. The method of claim 7, wherein, The target parking space belongs to a target parking lot, and the first target information further comprises: a parking mode supported by the target parking lot, the parking mode corresponding to the second driving mode.

9. The method according to any one of claims 1 to 8, characterized in that, The second driving mode comprises a first sub-driving mode and / or a second sub-driving mode, the first sub-driving mode being used to control the vehicle to drive to the vicinity of the target parking space, and the second sub-driving mode being used to control the vehicle to park in the target parking space.

10. The method of claim 9, wherein, The target parking space belongs to a target parking lot, and the starting position of the vehicle is located outside the target parking lot, and the control of the vehicle to drive to the target parking space comprises: the vehicle drives from the starting position to an entrance of the target parking lot based on the first driving mode; In response to the vehicle reaching an entrance of the target parking lot, the vehicle travels to a vicinity of the target parking space based on the first sub-driving mode; In response to the vehicle reaching the vicinity of the target parking space, the vehicle parks into the target parking space based on the second sub-driving mode.

11. The method of claim 9, wherein, The target parking space is located on a roadside, and the controlling the vehicle to travel to the target parking space comprises: The vehicle travels to the vicinity of the target parking space based on the first driving mode starting position; In response to the vehicle reaching the vicinity of the target parking space, the vehicle parks into the target parking space based on the second sub-driving mode.

12. The method according to any one of claims 9 to 11, characterized in that, The starting position of the vehicle is a starting parking space in a starting parking lot, and the target parking space is located outside the starting parking lot, the first sub-driving mode is further used to control the vehicle to travel out of the starting parking lot from the vicinity of the starting parking space, and the second sub-driving mode is further used to control the vehicle to park out of the starting parking space, and the controlling the vehicle to travel to the target parking space comprises: The vehicle parks out of the starting parking space based on the second sub-driving mode; In response to the vehicle parking out of the starting parking space, the vehicle travels out of the starting parking lot based on the first sub-driving mode; In response to the vehicle reaching outside the starting parking lot, the vehicle travels to the vicinity of the target parking space based on the first sub-driving mode; In response to the vehicle reaching the vicinity of the target parking space, the vehicle parks into the target parking space based on the second sub-driving mode.

13. The method according to any one of claims 9 to 12, characterized in that, After the vehicle reaches the vicinity of the target parking space, the method further comprises: In response to the target parking space being currently unavailable for parking, the display device is controlled to display a fourth control, the fourth control being used to recommend an alternative target parking space; In response to a fourth operation of the fourth control, the vehicle is controlled to travel into the alternative target parking space.

14. The method of claim 13, wherein, The controlling the vehicle to travel into the alternative target parking space comprises: In response to a distance between the alternative target parking space and the target parking space being greater than or equal to a second threshold value, the vehicle travels to the vicinity of the alternative target parking space based on the first sub-driving mode.

15. An apparatus for autonomous driving, the apparatus comprising: The apparatus comprises: a response unit configured to, in response to a first operation of a first control displayed by a display device, the first operation being used to indicate a target parking space through the first control; a control unit configured to control a vehicle to travel to the target parking space, in a process of traveling of the vehicle, the vehicle travels on an outdoor road based on a first driving mode, and the vehicle travels into the target parking space based on a second driving mode.

16. The apparatus of claim 15, wherein, Before the first operation, the response unit is further configured to: in response to a second operation of a second control displayed by the display device, the second control being a search control; wherein the second operation comprises: inputting a name of a first destination through the second control, and the target parking space is located in a vicinity of the first destination.

17. The apparatus of claim 15, wherein, The display device further displays a navigation map, and before the first operation, the response unit is further configured to: in response to a second operation of a second control displayed by the display device, the second control being a marker. The second operation includes: setting the second control at a first position of a navigation map, the first position corresponding to a first destination, and the target parking space being located near the first destination.

18. The apparatus of claim 17, wherein, The first position corresponds to a position of a landmark indicating the first destination, or the first position corresponds to an arbitrary position on a road adjacent to the first destination.

19. The apparatus of any one of claims 16-18, wherein, The response unit is further configured to: in response to a second operation on the second control, causing the display device to display the first control; or in response to the vehicle reaching near the first destination, causing the display device to display the first control.

20. The apparatus of claim 17 or 18, wherein, The response unit is further configured to: in response to a second operation on the second control, causing the second control to be in a first state, the second control in the first state being used to indicate a number of idle parking spaces near the first destination; or in response to a first operation on the first control, causing the second control to be in a second state, the second control in the second state being used to indicate position information of the target parking space; or in response to the vehicle reaching near the first destination, causing the second control to be in a third state, the second control in the third state being used to trigger display of the first control. The display device displays a first interface, the first interface being used to display first target information, the first target information including: position information and type information of the target parking space, the type information being used to indicate geometric parameters and auxiliary facilities of the parking space.

21. The apparatus of any one of claims 15-20, wherein, The target parking space belongs to a target parking lot, and the first target information further includes: a parking mode supported by the target parking lot, the parking mode corresponding to the second driving mode.

22. The apparatus of claim 21, wherein, The second driving mode includes a first sub-driving mode and / or a second sub-driving mode, the first sub-driving mode being used to control the vehicle to travel to the vicinity of the target parking space, and the second sub-driving mode being used to control the vehicle to park in the target parking space.

23. The apparatus of any of claims 15 to 22, wherein, The target parking space belongs to a target parking lot, and the starting position of the vehicle is located outside the target parking lot, when the vehicle travels from the starting position to an entrance of the target parking lot based on the first driving mode, the response unit is further configured to:

24. The apparatus of claim 23, wherein, in response to the vehicle reaching the entrance of the target parking lot, causing the vehicle to travel to the vicinity of the target parking space based on the first sub-driving mode; and in response to the vehicle reaching the vicinity of the target parking space, causing the vehicle to park in the target parking space based on the second sub-driving mode. The target parking space is located on a roadside, when the vehicle travels from the starting position to the vicinity of the target parking space based on the first driving mode, the response unit is further configured to:

25. The apparatus of claim 23, wherein, in response to the vehicle reaching the vicinity of the target parking space, causing the vehicle to park in the target parking space based on the second sub-driving mode. ​ 26. The apparatus of any one of claims 23-25, wherein, The starting position of the vehicle is a starting parking space in a starting parking lot, and the target parking space is located outside the starting parking lot. The first sub-driving mode is further used to control the vehicle to drive out of the starting parking lot from the vicinity of the starting parking space. The second sub-driving mode is further used to control the vehicle to park out of the starting parking space. When the vehicle parks out of the starting parking space based on the second sub-driving mode, the response unit is further used to: in response to the vehicle parking out of the starting parking space, to cause the vehicle to drive out of the starting parking lot based on the first sub-driving mode; in response to the vehicle reaching outside the starting parking lot, to cause the vehicle to travel to the vicinity of the target parking space based on the first sub-driving mode; in response to the vehicle reaching the vicinity of the target parking space, to cause the vehicle to park into the target parking space based on the second sub-driving mode.

27. The apparatus of any one of claims 23-26, wherein, After the vehicle reaches the vicinity of the target parking space, the response unit is further used to: in response to the target parking space being currently unavailable for parking, to cause the display device to display a fourth control, the fourth control being used to recommend an alternative target parking space; in response to a fourth operation of the fourth control, to cause the vehicle to park into the alternative target parking space.

28. The apparatus of claim 27, wherein, The response unit is further used to: in response to a distance between the alternative target parking space and the target parking space being greater than or equal to a second threshold value, to cause the vehicle to travel to the vicinity of the alternative target parking space based on the first sub-driving mode.

29. An apparatus for autonomous driving, the apparatus comprising: A processor and a memory are included, wherein the processor and the memory are connected, wherein the memory is used to store program code, and the processor is used to invoke the program code to execute the method according to any one of claims 1 to 14.

30. A vehicle characterized by An apparatus according to any one of claims 15 to 29 is included.

31. A chip system, characterized by The chip system is applied to an electronic device; the chip system includes one or more interface circuits and one or more processors; the interface circuit and the processor are interconnected through a circuit; the interface circuit is used to receive a signal from a memory of the electronic device and send the signal to the processor, the signal including computer instructions stored in the memory; when the processor executes the computer instructions, the electronic device executes the method according to any one of claims 1 to 14.

32. A computer-readable storage medium, comprising: The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 14.

33. A computer program product, characterised in that, The instructions are included, and when the instructions are executed by a processor, the method according to any one of claims 1 to 14 is executed.

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