Parking planning and control method and apparatus, and vehicle

Abstract

A parking planning and control method (300) and apparatus (2000), and a vehicle (100). The parking planning and control method (300) comprises: acquiring environment sensing information, wherein the environment sensing information indicates the positions of a plurality of parking spaces around a vehicle (100); on the basis of the environment sensing information, controlling a display apparatus (130) of the vehicle (100) to display at least one available parking space, wherein the plurality of parking spaces comprise the at least one available parking space; and in response to a first available parking space among the at least one available parking space being selected as a target parking space, controlling the display apparatus (130) to display a first path, wherein the first path is a planned path for parking into the first available parking space from the current position of the vehicle (100), the first path is a first-type path or a second-type path, the first-type path is obtained by means of planning in a first planning mode, and the second-type path is obtained by means of planning in a second planning mode.

Description

Parking control methods, devices and vehicles Technical Field

[0001] This application relates to the field of intelligent driving, and more specifically, to a parking control method, device, and vehicle. Background Technology

[0002] With the rapid development of the automotive industry, many driver assistance and autonomous driving technologies have emerged, which can reduce driving stress, improve safety, and enhance traffic efficiency. Automatic parking (AP) is one such widely used driver assistance technology. AP refers to automatic parking, meaning that the autonomous driving system can semi-automatically or fully automatically help the user park the vehicle in a parking space. Automatic parking can include automatic parking assist (APA), remote parking assist (RPA), and automatic valet parking (AVP), among others. APA technology, in particular, uses information perceived by vehicle sensors to identify parking spaces and obstacles, plans a feasible path to the target parking space, and controls the vehicle to park itself in the target space.

[0003] However, in scenarios with narrow areas and complex obstacles, path planning is more difficult, takes a long time, and may even fail, resulting in users waiting for path planning and / or parking results for a long time.

[0004] Therefore, a parking planning and control (hereinafter referred to as planning and control) scheme that can improve parking efficiency is urgently needed to be developed.

[0005] Summary of the Invention

[0006] This application provides a parking control method, device, and vehicle that can display the path for the vehicle to park in the target parking space after the vehicle user selects the target parking space, thereby helping to improve parking efficiency.

[0007] Firstly, a parking control method is provided, which can be executed by a vehicle, for example, by the vehicle's computing platform, or by a chip or circuitry used in the vehicle.

[0008] The method includes: acquiring environmental perception information, which indicates the location of multiple parking spaces around the vehicle; controlling a display device of the vehicle to display at least one available parking space based on the environmental perception information, wherein the multiple parking spaces include at least one available parking space; and controlling the display device to display a first path in response to a first available parking space being selected as a target parking space, wherein the first path is a planned path from the current location of the vehicle to the first available parking space, and the first path is either a first type of path or a second type of path, wherein the first type of path is planned by a first planning mode and the second type of path is planned by a second planning mode.

[0009] In some implementations, for the same parking space, the time required to plan the path of a vehicle to park using the first planning mode is greater than the time required to plan the path of a vehicle to park using the second planning mode. Alternatively, for the same parking space, the time required for a vehicle to park using the path planned using the first planning mode is less than the time required for a vehicle to park using the path planned using the second planning mode.

[0010] In some implementations, in response to the first available parking space being selected as the target parking space among at least one available parking space, it can be: in response to the operation of clicking the icon corresponding to the first available parking space, determining that the first available parking space is selected as the target parking space.

[0011] In the above technical solution, after the target parking space is determined, either the first type of path or the second type of path is displayed. This allows the user to quickly determine the difficulty of parking in the target parking space before parking begins. When the parking difficulty is low, the user can control the vehicle to park in the target parking space, which helps improve parking efficiency. When the parking difficulty is high, the user can reselect a new parking space with lower parking difficulty as the target parking space to control the vehicle's parking, which still helps improve parking efficiency.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, the first path is a second type of path, the second path indicates the first type of path from the current location of the vehicle to the first available parking space, and for the same parking space, the time required for the second planning mode to plan the second type of path is less than the time required for the first planning mode to plan the first type of path. The method further includes: controlling the display device to switch from displaying the first path to displaying the second path, the second path indicating the path from the current location of the vehicle to the first available parking space, and the second path is a first type of path.

[0013] In the above technical solution, if the first type of path is not planned, the second type of path is displayed so that users can quickly obtain a parking path, reduce the time required for path generation, and improve the user's driving experience; if the first type of path is planned, the first type of path with fewer gear shifts or smoother curvature at turns is displayed, so that parking based on the first type of path can take less time to park in the target parking space, thus improving parking efficiency.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, controlling the display device to switch from displaying a first path to displaying a second path includes: in response to an instruction to begin parking in a first available parking space, controlling the display device to switch from displaying a first path to displaying a second path.

[0015] If the instruction to start parking in the first available parking space is generated by the user clicking the "Start Parking" button, then when the instruction to start parking in the first available parking space is detected, the second path will be displayed, which helps to improve the user's interactive experience during the parking process.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, at least one available parking space further includes a second available parking space; when the parking space priority of the first available parking space is greater than the parking space priority of the second available parking space, the first path is a first type of path; or, when the parking space priority of the first available parking space is less than the parking space priority of the second available parking space, the first path is a second type of path; wherein, the parking space priority of the available parking space indicates the difficulty coefficient when a vehicle parks in the available parking space; or, the parking space priority of the available parking space indicates the probability that the available parking space will be selected as the target parking space.

[0017] Generally speaking, the higher the priority of a parking space, the easier it is to get the first type of path. Therefore, if the first available parking space has a high priority, the first type of path can be displayed when the first available parking space is selected as the target parking space.

[0018] In conjunction with the first aspect, in certain implementations of the first aspect, when the parking space priorities of the first available parking space and the second available parking space are different, the display device controlling the vehicle displays at least one available parking space, including: the display device controlling the display device displays an icon of a first style to indicate the first available parking space, and the display device controlling the display device displays an icon of a second style to indicate the second available parking space.

[0019] In some implementations, the first style icon and the second style icon can be icons of different colors, or the first style icon and the second style icon can be icons containing different elements.

[0020] In the above technical solution, different styles of icons are used to indicate available parking spaces with different priorities, making the priority of available parking spaces more obvious. This allows vehicle users to quickly determine the priority of each available parking space and thus quickly select the available parking space with the highest priority as the target parking space, which helps to improve parking efficiency.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, for the same parking space, if the time required for the second planning mode to plan the second type of path is less than the time required for the first planning mode to plan the first type of path, the display device controlling the vehicle displays at least one available parking space, including: when a second type of path corresponding to the first available parking space has been planned, but a first type of path corresponding to the first available parking space has not been planned, the display device controlling the display device displays a third type of icon to indicate the first available parking space; or, when a first type of path corresponding to the first available parking space has been planned, the display device controlling the display device displays a fourth type of icon to indicate the first available parking space.

[0022] In the above technical solution, different styles of icons are used to indicate different states of available parking spaces, enabling users to quickly determine the current path planning progress of each available parking space. This helps users quickly select available parking spaces with planned first-type paths as target parking spaces, which helps improve parking efficiency.

[0023] In conjunction with the first aspect, in some implementations of the first aspect, at least one available parking space further includes a third available parking space, and the method further includes: in response to the third available parking space being selected as the target parking space, a control display device displays a third path; the third path is a first-type path or a second-type path from the current location of the vehicle to the third available parking space.

[0024] In some implementations, controlling the display device to display a third path includes: controlling the display device to switch from displaying a first path to displaying a third path; or, controlling the display device to display both a first path and a third path.

[0025] In the above technical solution, after a user selects the first available parking space as the target parking space, and then selects the third available parking space as the target parking space, the display device can show the path to the third available parking space. After switching target parking spaces, the user does not need to wait for a replanned parking path, which helps improve the user's parking experience. Furthermore, when the display device simultaneously shows the first and third paths, it facilitates the user's comparison of the two paths, allowing them to choose the more suitable parking space (e.g., fewer gear shifts or a shorter path) as the target parking space, further enhancing the user's parking experience.

[0026] In some implementations, controlling the display device to display a third path includes switching the display device from displaying a second type of path leading to the first available parking space to displaying a third path. Further, during this period, if a first type of path leading to the first available parking space has already been planned, then in response to the first available parking space being selected again as the target parking space, controlling the display device to display the first type of path leading to the first available parking space.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, the first path is a planned path from the current position of the vehicle to the first available parking space in the first position.

[0028] In conjunction with the first aspect, in some implementations of the first aspect, the first pose includes any one of tail-in (hereinafter referred to as tail-in), head-in (hereinafter referred to as head-in), left-side-in, right-side-in, and center-in.

[0029] In conjunction with the first aspect, in some implementations of the first aspect, when the difficulty of parking the vehicle in the first parking space in the first position is greater than the difficulty of parking the vehicle in the first parking space in the second position, the first path is the path of parking the vehicle in the first parking space in the second position.

[0030] In some implementations, the second pose includes a pose that differs from the first pose, such as tail-in, head-in, left-in, right-in, or center-in.

[0031] In the above technical solution, when the vehicle can be parked in the target parking space in both the first and second positions, a parking path with lower difficulty is displayed. When parking begins, the vehicle is controlled to park in the target parking space along this path, which helps to reduce the parking time and improve parking efficiency.

[0032] In conjunction with the first aspect, in some implementations of the first aspect, when the first available parking space is in front of the vehicle, the first path is the path for the front of the vehicle to park in the first available parking space; or, when the first available parking space is behind the vehicle, the first path is the path for the rear of the vehicle to park in the first available parking space.

[0033] In the above technical solution, the parking method corresponding to the first path is determined as either head-in or tail-in based on the positional relationship between the vehicle and the first available parking space. When the first available parking space is in front of the vehicle, the head-in method is used to park in the target parking space; when the first available parking space is behind the vehicle, the tail-in method is used to park in the target parking space. This helps to shorten the distance the vehicle needs to travel during the parking process.

[0034] In conjunction with the first aspect, in some implementations of the first aspect, the first path is the path for the rear of the vehicle to park in the first available parking space, or the first path is the path for the front of the vehicle to park in the first available parking space, which is determined based on the historical data of the vehicle's driver.

[0035] In the above technical solution, following the driver's habits and determining whether the parking space corresponding to the first path is entered head-in or tail-in helps to improve the user's driving experience and personalization during the parking process.

[0036] In conjunction with the first aspect, in some implementations of the first aspect, the multiple parking spaces include at least one empty parking space. The method further includes: in a third planning mode, determining at least one available parking space from the at least one empty parking space based on environmental perception information; in a fourth planning mode, planning a third type of path from the current location of the vehicle to each available parking space; wherein, for the same parking space, the time required for planning the path in the third planning mode is less than the time required for planning the path in the fourth planning mode, and the fourth planning mode is either the first planning mode or the second planning mode.

[0037] In some implementations, under the third planning mode, a path to each available parking space is planned, thereby selecting at least one available parking space from at least one available parking space.

[0038] In the above technical solution, the third planning mode, which requires a shorter planning time, helps to reduce the time required to select parking spaces, thereby shortening the time required for parking path planning; and the fourth planning mode, which requires a longer planning time, helps to obtain a more reasonable and shorter parking path, thereby reducing the parking time required and improving parking efficiency.

[0039] In conjunction with the first aspect, in some implementations of the first aspect, at least one available parking space also includes a fourth available parking space, and the parking space priority of the first available parking space is higher than that of the fourth available parking space. Planning a third type of path from the current location of the vehicle to each available parking space in the at least one available parking space includes: first planning a third type of path from the current location of the vehicle to the first available parking space; and then planning a third type of path from the current location of the vehicle to the fourth available parking space.

[0040] In the above technical solution, the parking paths of vehicles to parking spaces with higher priority and parking spaces with lower priority are planned in sequence. This allows the parking paths corresponding to parking spaces with higher priority to be obtained first. In this way, when a parking space with higher priority is selected as the target parking space, if parking is required immediately, it is guaranteed that at least the second type of path corresponding to the parking space has been planned, and the first type of path corresponding to the parking space has a certain probability of being planned. This helps to improve the efficiency of vehicles parking in parking spaces with higher priority.

[0041] In conjunction with the first aspect, in some implementations of the first aspect, for the same parking space, the time required for the second planning mode to plan the second type of path is less than the time required for the first planning mode to plan the first type of path. When the fourth planning mode is the second planning mode, the third type of path is the second type of path. The method also includes: after planning the second type of path, in the first planning mode, planning the first type of path from the current location of the vehicle to each of the at least one available parking space.

[0042] In the above technical solution, the path is planned based on the second planning mode and the first planning mode in sequence. For any available parking space, when parking is required immediately, at least the second type of path corresponding to the parking space has been planned, which helps to improve the parking efficiency of vehicles.

[0043] Secondly, a parking control device is provided, comprising an acquisition unit and a processing unit, wherein the acquisition unit is configured to: acquire environmental perception information, the environmental perception information indicating the positions of multiple parking spaces around the vehicle; the processing unit is configured to: control the vehicle's display device to display at least one available parking space based on the environmental perception information, the multiple parking spaces including at least one available parking space; the processing unit is further configured to: in response to a first available parking space being selected as the target parking space, control the display device to display a first path, the first path being a planned path from the vehicle's current location to the first available parking space, the first path being either a first type of path or a second type of path, the first type of path being planned by a first planning mode, and the second type of path being planned by a second planning mode.

[0044] In conjunction with the second aspect, in some implementations of the second aspect, the first path is a second type of path, the second path indicates the first type of path from the current location of the vehicle to the first available parking space, and for the same parking space, the time required for the second planning mode to plan the second type of path is less than the time required for the first planning mode to plan the first type of path. The processing unit is also used to: control the display device to switch from displaying the first path to displaying the second path.

[0045] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is configured to: in response to an instruction indicating the commencement of parking in the first available parking space, control the display device to switch from displaying the first path to displaying the second path.

[0046] In conjunction with the second aspect, in some implementations of the second aspect, at least one available parking space further includes a second available parking space; when the parking space priority of the first available parking space is greater than the parking space priority of the second available parking space, the first path is a first type of path; or, when the parking space priority of the first available parking space is less than the parking space priority of the second available parking space, the first path is a second type of path; wherein, the parking space priority of the available parking space indicates the difficulty coefficient when a vehicle parks in the available parking space; or, the parking space priority of the available parking space indicates the probability that the available parking space will be selected as the target parking space.

[0047] In conjunction with the second aspect, in some implementations of the second aspect, when the parking space priorities of the first available parking space and the second available parking space are different, the processing unit is used to: control the display device to display an icon of a first style to indicate the first available parking space, and control the display device to display an icon of a second style to indicate the second available parking space.

[0048] In conjunction with the second aspect, in some implementations of the second aspect, for the same parking space, the time required for the second planning mode to plan the second type of path is less than the time required for the first planning mode to plan the first type of path. The processing unit is further configured to: when the second type of path corresponding to the first available parking space has been planned, but the first type of path corresponding to the first available parking space has not been planned, control the display device to display a third type of icon to indicate the first available parking space; or, when the first type of path corresponding to the first available parking space has been planned, control the display device to display a fourth type of icon to indicate the first available parking space.

[0049] In conjunction with the second aspect, in some implementations of the second aspect, at least one parking space further includes a third parking space, and the processing unit is further configured to: in response to the third parking space being selected as the target parking space, control the display device to display a third path; the third path is a first-type path or a second-type path from the current location of the vehicle to the third parking space.

[0050] In conjunction with the second aspect, in some implementations of the second aspect, the first path is a planned path from the current position of the vehicle to the first available parking space in the first position.

[0051] In conjunction with the second aspect, in some implementations of the second aspect, the first pose includes any one of tail-in, head-in, left-side-in, right-side-in, and center-in.

[0052] In conjunction with the second aspect, in some implementations of the second aspect, when the difficulty of parking the vehicle in the first parking space in the first position is greater than the difficulty of parking the vehicle in the first parking space in the second position, the first path is the path of parking the vehicle in the first parking space in the second position.

[0053] In conjunction with the second aspect, in some implementations of the second aspect, when the first parking space is in front of the vehicle, the first path is the path for the front of the vehicle to park in the first parking space; or, when the first parking space is behind the vehicle, the first path is the path for the rear of the vehicle to park in the first parking space.

[0054] In conjunction with the second aspect, in some implementations of the second aspect, the first path is the path for the rear of the vehicle to park in the first available parking space, or the first path is the path for the front of the vehicle to park in the first available parking space, which is determined based on the historical data of the vehicle's driver.

[0055] In conjunction with the second aspect, in some implementations of the second aspect, the multiple parking spaces include at least one empty parking space, and the processing unit is further configured to: in a third planning mode, determine at least one available parking space from the at least one empty parking space based on environmental perception information; in a fourth planning mode, plan a third type of path from the current location of the vehicle to each available parking space; wherein, for the same parking space, the time required for planning the path in the third planning mode is less than the time required for planning the path in the fourth planning mode, and the fourth planning mode is either the first planning mode or the second planning mode.

[0056] In conjunction with the second aspect, in some implementations of the second aspect, at least one available parking space also includes a fourth available parking space, and the parking space priority of the first available parking space is higher than that of the fourth available parking space. The processing unit is used to: first plan a third type of path from the current location of the vehicle to the first available parking space; and then plan a third type of path from the current location of the vehicle to the fourth available parking space.

[0057] In conjunction with the second aspect, in some implementations of the second aspect, for the same parking space, the time required for the second planning mode to plan the second type of path is less than the time required for the first planning mode to plan the first type of path. When the fourth planning mode is the second planning mode, the third type of path is the second type of path. The processing unit is used to: after planning the second type of path, in the first planning mode, plan the first type of path from the current location of the vehicle to each of the at least one available parking space.

[0058] Thirdly, a parking control device is provided, the device comprising: a processor for executing a computer program stored in a memory, such that the device performs the method in any possible implementation of the first aspect described above.

[0059] In conjunction with the third aspect, in some implementations of the third aspect, the device also includes a memory.

[0060] Fourthly, a computer program product is provided, comprising: computer program code, which, when executed on a computer or processor, causes the computer or processor to perform the method in any possible implementation of the first aspect.

[0061] It should be noted that the above computer program code can be stored in whole or in part on a storage medium, which can be packaged together with the processor or packaged separately from the processor.

[0062] Fifthly, a computer-readable storage medium is provided, the computer-readable medium storing instructions that, when executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect.

[0063] In a sixth aspect, a chip is provided that includes circuitry for performing the method in any of the possible implementations of the first aspect described above.

[0064] In a seventh aspect, a vehicle is provided that includes means as in any possible implementation of the second to third aspects, or the vehicle includes computer-readable storage as in any possible implementation of the fifth aspect, or the vehicle includes a chip as in any possible implementation of the sixth aspect, or the vehicle is loaded with computer program code as in any possible implementation of the fourth aspect.

[0065] In conjunction with the seventh aspect, in some implementations of the seventh aspect, the vehicle is a vehicle in a broad sense, such as a means of transportation (e.g., commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (e.g., forklifts, trailers, tractors, etc.), engineering vehicles (e.g., excavators, bulldozers, cranes, etc.), agricultural equipment (e.g., lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. In practical implementation, the vehicle can also be a road vehicle, a water vehicle, an air vehicle, industrial equipment, agricultural equipment, or other intelligent driving equipment such as entertainment equipment.

[0066] For the beneficial effects not described in detail in aspects two through seven, please refer to the description in aspect one, which will not be repeated here. Attached Figure Description

[0067] Figure 1 is a functional schematic block diagram of the vehicle provided in an embodiment of this application;

[0068] Figure 2 is a schematic block diagram of the parking control system architecture provided in an embodiment of this application;

[0069] Figure 3 is a schematic flowchart of the parking control method provided in the embodiments of this application;

[0070] Figure 4 is a schematic diagram of multi-threaded parallel computing provided in an embodiment of this application;

[0071] Figure 5 is a schematic diagram of the application scenarios associated with the parking control method provided in the embodiments of this application;

[0072] Figure 6 is a schematic diagram of the GUI provided in an embodiment of this application;

[0073] Figure 7 is another schematic diagram of the GUI provided in the embodiments of this application;

[0074] Figure 8 is another schematic diagram of the GUI provided in the embodiments of this application;

[0075] Figure 9 is another schematic diagram of the GUI provided in the embodiments of this application;

[0076] Figure 10 is another schematic diagram of the GUI provided in the embodiments of this application;

[0077] Figure 11 is a schematic flowchart of a parking control method provided in an embodiment of this application;

[0078] Figure 12 is a schematic block diagram of the parking control device provided in an embodiment of this application;

[0079] Figure 13 is another schematic block diagram of the parking control device provided in the embodiments of this application. Detailed Implementation

[0080] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0081] Figure 1 is a functional block diagram of a vehicle provided in an embodiment of this application. As shown in Figure 1, the vehicle 100 may include a sensing system 120, a display device 130, and a computing platform 150. The sensing system 120 may include several sensors for sensing information about the environment surrounding the vehicle 100. For example, the sensing system 120 may include a positioning system, which may be a global navigation satellite system (GNSS), such as the global positioning system (GPS) or the BeiDou system. Alternatively, the sensing system 120 may also include one or more of the following: an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0082] For example, the camera devices outside the cabin may include one or more of the following: a front-view camera, a rear-view camera, a surround-view camera, and a side-view camera. The front-view camera may be mounted on the windshield. The rear-view camera may be mounted in the trunk. The side-view camera may be mounted below the rearview mirror. The surround-view camera includes four cameras mounted around the vehicle; the images acquired by the four cameras are stitched together to obtain a panoramic image of the vehicle's surroundings. In some implementations, the surround-view camera may overlap with the front-view, rear-view, and side-view cameras. For example, the camera positioned on the side of the vehicle in the surround-view camera may be a side-view camera, the camera positioned in front of the vehicle may be a front-view camera, and the camera positioned behind the vehicle may be a rear-view camera. Alternatively, the surround-view camera may be different from all three: the front-view camera, the rear-view camera, and the side-view camera.

[0083] The display devices 130 in the vehicle's cabin 100 are mainly divided into two categories: the first is in-vehicle displays; the second is projection displays, such as head-up displays (HUDs). In-vehicle displays are physical displays and an important component of the in-vehicle infotainment system. Multiple displays can be installed in the cabin, such as digital instrument cluster displays and central control screens. In some possible implementations, one or more of the aforementioned in-vehicle displays can be human-machine interfaces (HMIs), for example, the central control screen can be an HMI. Head-up displays, also known as head-up display systems, are mainly used to display driving information such as speed and navigation on a display device in front of the driver (e.g., the windshield). This reduces the driver's eye-shifting time, avoids pupil changes caused by eye-shifting, and improves driving safety and comfort. HUDs include, for example, combiner-HUD (C-HUD) systems, windshield-HUD (W-HUD) systems, and augmented reality HUD (AR-HUD) systems.

[0084] Some or all of the functions of vehicle 100 can be controlled by computing platform 150. Computing platform 150 may include processors 151 to 15n. A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement some or all of the functions of the aforementioned units. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory for storing instructions. Some or all of the processors 151 to 15n can call the instructions in the memory to implement the corresponding functions.

[0085] The computing platform 150 can control the operation of the intelligent driving system, which may include an advanced driving assistance system (ADAS) and an autonomous driving system (ADS). The intelligent driving system utilizes various sensors on the vehicle (including but not limited to: LiDAR, millimeter-wave radar, cameras, ultrasonic sensors, GPS, and inertial measurement units) to acquire information from the vehicle's surroundings, and analyzes and processes this information to achieve functions such as obstacle perception, target recognition, vehicle localization, path planning, and driver monitoring / alerts, thereby improving the safety, automation, and comfort of driving the vehicle.

[0086] At different levels of autonomous driving (or intelligent driving levels, ranging from L0 to L5, totaling six levels), intelligent driving systems can achieve different levels of automated driving assistance based on artificial intelligence algorithms and information acquired by multiple sensors. These levels of autonomous driving are based on the classification standards of the Society of Automotive Engineers (SAE). Specifically, L0 is no automation; L1 is driver assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. At levels L1 to L3, the task of monitoring road conditions and reacting is jointly completed by the driver and the system, requiring the driver to take over dynamic driving tasks. Levels L4 and L5 allow the driver to completely transform into a passenger. Currently, the functions that intelligent driving systems can achieve mainly include, but are not limited to: adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, forward cross-traffic alert / braking, rear cross-traffic alert / braking, forward collision warning, lane departure warning, lane keeping assist, rear collision warning, traffic sign recognition, traffic jam assist, and highway assist. It should be understood that the various functions mentioned above can have specific modes at different levels of autonomous driving (L0-L5), with higher levels of autonomous driving corresponding to more intelligent modes. For example, automatic parking can include APA, RPA, and AVP. With APA, the driver does not need to operate the steering wheel, but still needs to control the accelerator and brake from outside the vehicle; with RPA, the driver can remotely park the vehicle from outside using a terminal (e.g., a mobile phone); with AVP, the vehicle can park without a driver. In terms of corresponding autonomous driving levels, APA is approximately at level L1-L2, RPA is approximately at level L2-L3, and AVP is approximately at level L4.

[0087] In this embodiment, the perception system 120 is used to acquire environmental information around the vehicle. The computing platform 150 can filter available parking spaces around the vehicle based on the environmental information, and then the display device 130 can display the aforementioned available parking spaces. Further, when the vehicle speed is below a certain speed threshold, the computing platform 150 plans an initial path and a fine path from the vehicle to each available parking space. When a parking space is detected as the target parking space, the platform controls the vehicle to park in the target parking space according to the initial path or the fine path. In addition, the display device 130 is also used to display the aforementioned initial path and fine path. For example, when a parking space is detected as the target parking space, if a fine path has not yet been planned for that parking space, the display device 130 is controlled to display the initial path; after the fine path is planned, the display device 130 switches from displaying the initial path to displaying the fine path. For example, when an empty parking space is selected as the target parking space, if a fine-grained path has been planned for that space, the control display device 130 directly displays the fine-grained path, and the vehicle can be controlled to drive along the fine-grained path towards the target parking space. It should be noted that the accuracy of the initial path is lower than that of the fine-grained path. These different accuracies can be understood as different accuracies resulting from different parameters within a unified algorithm framework; for example, parameters with larger step sizes, larger grid sizes, and wider judgment conditions correspond to lower-accuracy planning. Alternatively, these different accuracies can also be understood as different accuracies obtained based on different algorithms; simpler algorithms obtain lower-accuracy planning results, while more complex algorithms obtain higher-accuracy planning results. For example, the parking time for the initial path may be longer than that for the fine-grained path, or the initial path may require more gear shifts than the fine-grained path.

[0088] Figure 2 shows a schematic diagram of the system architecture required for implementing the parking regulation control method provided in this application embodiment. This system can be installed in the vehicle 100 shown in Figure 1. The system includes a perception module 210, a human-machine interaction module 220, a display module 230, and a regulation control module 240. Specifically:

[0089] The perception module 210 may include one or more camera devices or one or more radar sensors from the perception system 120 shown in FIG. 1, for collecting environmental information of the area where the vehicle is located, such as information on parking lines and obstacles. The perception module 210 may also process the collected environmental information to build a world model of roads, obstacles, etc. for downstream modules (such as the planning and control module 240). For example, the perception module 210 may determine one or more parking spaces based on obstacles and / or parking lines, and send the information of one or more parking spaces to the planning and control module 240.

[0090] The human-machine interface module 220 may include one or more of the display devices 130 shown in FIG. 1, such as an HMI; the human-machine interface module 220 may also include a sound-emitting device (such as a speaker, audio system, etc.) and a sound-receiving device (such as a microphone). The display module 230 may include one or more of the display devices 130 shown in FIG. 1. The display module 230 can display a parking interface, which can display the position of one or more parking spaces relative to the vehicle, and the parking path of the vehicle to the target parking space. The human-machine interface module 220 can receive user commands (including voice commands, touch screen commands, etc.), and then send the commands to the planning and control module 240. The planning and control module 240 can plan the parking path of the vehicle to one or more available parking spaces, and can also determine the target parking space according to the command. Furthermore, the planning and control module can also control the changes of the interface displayed by the display module 230 according to the commands from the human-machine interface module 220.

[0091] The planning and control module 240 can be one or more processors in the computing platform 150 shown in Figure 1. The planning and control module 240 can include a path planning module 241 and a control module 242. The path planning module 241 can include three planning modes, such as planning mode 1, planning mode 2, and planning mode 3. Planning mode 1 is used to filter at least one available parking space from one or more parking spaces sent by the perception module 210. It should be noted that planning mode 1 is used to quickly plan surrounding parking spaces and obtain a result indicating whether the planning is successful, serving as a marker for whether nearby parking spaces are available. The parking paths planned by planning mode 1 are not displayed to the user; in some implementations, the parking paths planned by planning mode 1 are also not used to control vehicle parking. Planning mode 2 is used to plan the initial path from the vehicle to each available parking space, and planning mode 3 is used to plan the refined path from the vehicle to each available parking space. The control module 242 is used to control the interface changes of the display module 230. For example, when one of the available parking spaces is selected as the target parking space, the control module 242 can control the display module 230 to display the target parking space and the parking path (such as the initial path or the fine path) when the vehicle enters the target parking space.

[0092] Furthermore, the planning and control module 240 calculates the corresponding control quantity based on the initial path or refined path, and outputs the control quantity to the actuator. When the actuator executes the aforementioned control quantity, it controls the vehicle to travel to the target parking space according to the planned parking path. For example, the actuator may include the steering and braking control system in the vehicle 100.

[0093] It should be understood that the above modules are only an example, and in actual applications, these modules may be added or removed as needed. For example, in the system architecture shown in Figure 2, the human-computer interaction module 220 and the display module 230 can be merged into one module.

[0094] The system involved in the embodiments of this application has been described above with reference to Figure 2. The parking control method performed based on the system shown in Figure 2 is described in detail below.

[0095] Figure 3 shows a schematic flowchart of a parking regulation control method provided in an embodiment of this application. The method 300 can be executed by the regulation control module 240 shown in Figure 2. The method 300 includes:

[0096] S301, acquire environmental perception information, which indicates the location of multiple parking spaces around the vehicle.

[0097] In some implementations, environmental perception information may include information collected by the vehicle's sensors, such as one or more of the following: images collected by the vehicle's camera devices, or point cloud data collected by the vehicle's LiDAR. The images collected by the vehicle's camera devices may include images collected by cameras positioned at different locations on the vehicle, showing different orientations relative to the vehicle; the point cloud data collected by the vehicle's LiDAR may include point cloud data collected by LiDAR devices positioned at different locations on the vehicle, showing different orientations relative to the vehicle. Further, the images are processed using image processing algorithms to determine the positions of multiple parking spaces around the vehicle relative to the vehicle; or, the images and point cloud data are fused using a fusion perception algorithm to determine the positions of multiple parking spaces around the vehicle relative to the vehicle. For example, the image processing algorithm may be the YOLO (You Only Look Once) series of algorithms; the fusion perception algorithm may be an algorithm based on a target attribute fusion strategy, an algorithm based on a multi-source decision fusion strategy, etc.

[0098] For example, the multiple parking spaces around the vehicle include at least one empty parking space, and may also include one or more non-empty parking spaces, which indicate parking spaces where vehicles are already parked or parking spaces occupied by obstacles.

[0099] S302, based on planning mode 1, determines at least one available parking space from multiple parking spaces that can be used for parking a vehicle.

[0100] For example, planning mode 1 is used to quickly plan a path from the current location of the vehicle to each of the multiple empty parking spaces. If the planning of a path for an empty parking space fails, the empty parking space is determined to be unavailable for parking. If the planning of a path for an empty parking space is successful (i.e., a feasible path from the current location of the vehicle to the empty parking space is planned), the empty parking space is determined to be a parking space (i.e., a parking space available for the vehicle to park).

[0101] In some implementations, S302 is executed when the vehicle's speed is less than or equal to a certain threshold. For example, the certain threshold can be 5 kilometers per hour (kph) or 10 kph.

[0102] Furthermore, after identifying at least one available parking space, the display device controlling the vehicle shows the at least one available parking space.

[0103] In some implementations, while determining at least one available parking space based on planning pattern 1, the difficulty of parking each available parking space can also be determined. For example, the more gear shifts are made during the process of parking in a certain available parking space, the greater the difficulty of parking in that space.

[0104] S303, when the vehicle's speed is less than or equal to the speed threshold, plan a Class A path for the vehicle to park in each available parking space based on planning mode 2.

[0105] For example, when planning a Class A path based on planning mode 2, a Class A path can be planned sequentially for each available parking space according to a decreasing priority sequence. Furthermore, for each available parking space, a Class A path corresponding to parking pose 1 and a Class A path corresponding to parking pose 2 are planned sequentially. For example, pose 1 can be tail-in and pose 2 can be head-in; or, pose 1 can be head-in and pose 2 can be tail-in. It should be noted that the Class A path may include the initial path in the aforementioned embodiments.

[0106] Parking space priority can indicate the likelihood of an available parking space being selected as the target parking space. For example, a higher parking space priority indicates a greater likelihood of it being selected as the target parking space. Alternatively, parking space priority can indicate the ease of parking in an available parking space. For example, a higher parking space priority indicates less difficulty in parking in that space. In practice, the priority of each available parking space can be determined based on its position relative to the vehicle, the driver's historical data, etc. The driver's historical data indicates the driver's parking preferences, such as the preferred location of the target parking space (e.g., a space near the edge, a space closer to the passenger side, or a space closer to the driver's side), the driver's preferred parking posture (head-in or tail-in), and other parking preferences.

[0107] In some implementations, taking at least one parking space including parking space A, parking space B, and parking space C, and the parking space priorities of the three spaces from high to low as parking space B, parking space A, and parking space C, based on planning mode 2, the A-type path is planned sequentially according to the following task sequence: the A-type path when parking in parking space B with pose 1, the A-type path when parking in parking space A with pose 1, the A-type path when parking in parking space C with pose 1, the A-type path when parking in parking space B with pose 2, the A-type path when parking in parking space A with pose 2, and the A-type path when parking in parking space C with pose 2. In one example, the aforementioned pose 1 is a tail-in, and pose 2 is a head-in. In another example, the aforementioned pose 1 and pose 2 are determined based on the driver's historical data. For example, if the driver prefers tail-in, then the aforementioned pose 1 is tail-in, and pose 2 is head-in; or, for example, if the driver prefers head-in, then the aforementioned pose 1 is head-in, and pose 2 is tail-in. In another example, the aforementioned pose 1 and pose 2 are determined based on the position of the parking space relative to the vehicle. For example, if at least one available parking space is located in front of the vehicle, then the aforementioned pose 1 is head-in and pose 2 is tail-in; or, for another example, if at least one available parking space is located behind the vehicle, then the aforementioned pose 1 is tail-in and pose 2 is head-in.

[0108] S304, based on planning mode 3, plans a Class B path for a vehicle to park in each available parking space.

[0109] For example, the specific implementation of B-type path planning based on planning pattern 3 is similar to the method of planning A-type paths based on planning pattern 2. For instance, B-type paths can be planned sequentially for each available parking space according to a decreasing sequence of parking space priorities. For a more detailed implementation, please refer to the description in S303, which will not be repeated here.

[0110] It should be noted that when planning routes to the same parking space using planning modes 1, 2, and 3, the time required to obtain the planning results increases sequentially from mode 1 to mode 2 to mode 3. Correspondingly, the parking efficiency corresponding to the routes obtained using planning modes 1, 2, and 3 is higher, meaning the parking time is shorter. In other words, for a route from the same location to the same parking space, compared to a type A route, a type B route has fewer gear shifts and / or a smoother curvature change, so that the time required for a vehicle to park from a certain location (e.g., location a) along a type B route to a parking space (e.g., parking space A) is shorter than the time required for a vehicle to park from the same location (e.g., location a) along a type A route to the same parking space (e.g., parking space A).

[0111] In some implementations, planning modes 1, 2, and 3 can use the same algorithm, but they perform path planning based on different parameters of the same algorithm. For example, the step size and grid size for planning modes 1, 2, and 3 decrease sequentially, and the decision conditions decrease sequentially. For instance, the aforementioned "same algorithm" can be a search algorithm, such as the hybrid A-star (A*) algorithm; or, the aforementioned algorithm can be other algorithms.

[0112] In some implementations, planning modes 1, 2, and 3 can use different algorithms, with the complexity of the algorithms increasing sequentially, thus increasing the parking efficiency of the paths planned by each mode. For example, planning modes 1, 2, and 3 are respectively based on a combined curve splicing algorithm, a hybrid A* algorithm, and a trajectory planning algorithm based on mathematical optimization.

[0113] It should also be noted that in actual implementation, S303 and S304 can be executed simultaneously. For example, while planning the Class A path when parking in parking space A with pose 2, the Class B path when parking in parking space B with pose 1 can also be planned.

[0114] In some implementations, multi-threaded parallel computing can be used to accelerate path planning. For example, taking at least one available parking space including the aforementioned parking spaces A to C as an example, the path from parking space A to parking space C can be planned according to the following task sequence: 1. A-type path from tail to parking space B; 2. A-type path from tail to parking space A; 3. A-type path from tail to parking space C; 4. A-type path from head to parking space B; 5. A-type path from head to parking space A; 6. A-type path from head to parking space C; 7. B-type path from tail to parking space B; 8. B-type path from tail to parking space A; 9. B-type path from tail to parking space C; 10. B-type path from head to parking space B; 11. B-type path from head to parking space A; 12. B-type path from head to parking space C. If four threads (threads 1 to 4 in Figure 4) are used for path planning, the aforementioned tasks can be sequentially distributed to threads 1 to 4, so that thread 1 executes task sequence 1, task sequence 5, and task sequence 9 in sequence; thread 2 executes task sequence 2, task sequence 6, and task sequence 10 in sequence; thread 3 executes task sequence 3, task sequence 7, and task sequence 11 in sequence; and thread 4 executes task sequence 4, task sequence 8, and task sequence 12 in sequence. It can be understood that threads 1 to 4 run synchronously, meaning that task sequences 1 to 4 can start executing simultaneously.

[0115] In some implementations, for certain parking spaces, the time or computational effort required for path planning using planning mode 2 and planning mode 3 is not significantly different. Therefore, for these parking spaces, only one of planning mode 2 and planning mode 3 can be used for path planning to save the computational overhead required for path planning.

[0116] S305, in response to the first operation, determines the target parking space, and controls the display device to display the Class A or Class B path from which the vehicle enters the target parking space.

[0117] For example, the first operation may be an operation in which the user clicks on an available parking space displayed on the display device, or the first operation may be an operation in which the user selects one of at least one available parking space via voice command, or the first operation may be other operations in which the target parking space is selected.

[0118] In some implementations, S305 can be executed synchronously with S303 and / or S304. For example, after the target parking space is determined according to the first operation, and no instruction to start parking is detected, the aforementioned Class A path and / or Class B path can continue to be planned.

[0119] In some implementations, when no Class B path to the target parking space is planned, a Class A path to the target parking space is displayed; when a Class B path is planned, the control display device switches from displaying a Class A path to displaying a Class B path.

[0120] In some implementations, the path to the target parking space displayed on the current display device is a Class A path. When an instruction to start parking is detected, if no Class B path to the target parking space has been planned, the vehicle is controlled to park along the Class A path to the target parking space, and the planning of the unplanned path is stopped. Alternatively, when an instruction to start parking is detected, if a Class B path to the target parking space has been planned, the vehicle is controlled to park along the Class B path to the target parking space, and the display device is controlled to display the Class B path.

[0121] To facilitate understanding of the parking regulation control method provided in this application, the following describes in detail, with reference to Figures 5 to 10, the human-computer interaction scenarios that may be involved in implementing the parking regulation control method provided in this application. The processing actions (such as control, determination, detection, and response actions) or steps involved in Figures 5 to 10 can be executed by the computing platform 150 shown in Figure 1, or they can be executed by the aforementioned system, for example, by the regulation control module 240.

[0122] Figure 5 illustrates a schematic diagram of the application scenario of the parking control method provided in this application embodiment. Figure 5(a) and (b) are a perspective view and a top view of the parking area where vehicle 401 is located, respectively. Vehicle 401 can be an example of the vehicle in method 300. As shown in Figure 5, the parking area where the vehicle is located includes multiple non-empty parking spaces and multiple empty parking spaces, such as parking space 402, parking space 403, and parking space 404. If vehicle 401 determines, based on S301 to S302 of the aforementioned method 300, that parking spaces 402, 403, and 404 are all available for parking, then vehicle 401 can control its own display device to display the aforementioned parking spaces for the user to select.

[0123] Specifically, taking the vehicle's central control screen as an example, Figure 6 illustrates an example of the graphical user interface (GUI) provided in this application embodiment. Exemplarily, when parking spaces 402, 403, and 404 are all determined to be available parking spaces, the central control screen displays the parking interface shown in Figure 6(a). This parking interface includes icons 501 to 504, where icon 501 indicates the position of vehicle 401 in the parking area, and icons 502, 503, and 504 respectively indicate the positions of parking spaces 402, 403, and 404 relative to vehicle 401. Furthermore, the parking interface also includes a dialog box 505 "!Please select the parking space you wish to park in," prompting the user to select a target parking space.

[0124] In some implementations, when displaying multiple available parking spaces to the user through the parking interface, different styles of icons can be used to indicate parking spaces with different priorities. These different styles of icons can include icons of different colors. For example, an icon of color one can be used to indicate the highest priority available parking space, while icons of color two can indicate other available parking spaces, thus indicating the highest priority parking space to the user. For instance, if parking space 402 has the highest priority, the central control screen can be controlled to display the parking interface shown in Figure 6(b), where the color of icon 502 is different from the colors of icons 503 and 504.

[0125] Furthermore, when parking space 502 (hereinafter referred to as parking space 502) is selected as the target parking space, if a Class B path from the location of the vehicle (hereinafter referred to as vehicle 501) indicated by icon 501 to parking space 502 has not yet been planned, a Class A path from the location of vehicle 501 to parking space 502 will be displayed. Specifically, the display device can be controlled to display the parking interface shown in Figure 6(c). This parking interface includes path 507, which is an illustration of a Class A path for vehicle 501 to park in parking space 502. Specifically, path 507 includes four sub-paths, indicating that vehicle 501 needs to perform the following actions in sequence when parking in parking space 502: drive forward in drive gear, drive to the left rear in reverse gear, drive to the right front in drive gear, and then drive to the right rear in reverse gear. That is to say, vehicle 501 needs to shift gears three times when parking in parking space 502 along the path indicated by path 507.

[0126] It should be understood that while displaying path 507, vehicle 501 plans a Class B path to park in parking space 502 under planning mode 3. If the Class B path to parking space 502 has been planned before controlling vehicle 501 to begin parking in parking space 502, the parking interface can be switched from displaying Class A path to displaying Class B path. For example, when the Class B path is planned, the display device can be controlled to display the parking interface shown in Figure 6(d), which includes path 508, a schematic of the Class B path for vehicle 501 to park in parking space 502. Specifically, path 508 includes two sub-paths, indicating that vehicle 501 needs to perform the following actions sequentially during the process of parking in parking space 502: drive forward in drive gear, and drive to the left rear in reverse gear. That is to say, vehicle 501 only needs to shift gears once during the process of parking in parking space 502 along the path indicated by path 507.

[0127] Furthermore, the interface shown in Figure 6(c) also includes a button 506 for controlling the start of parking. In some implementations, before controlling vehicle 501 to begin parking in parking space 502, the Class B path to parking space 502 has been planned. Therefore, when a click on button 506 is detected, the parking interface can be switched from displaying Class A paths to displaying Class B paths; and vehicle 501 is controlled to park in parking space 502 along the Class B path. That is, when the control display device displays the parking interface shown in Figure 6(c), and a click on button 506 is detected, the control display device switches to displaying the parking interface shown in Figure 6(d).

[0128] In some implementations, if the button 506 is clicked before the Class B path to parking space 502 is fully planned, the vehicle 501 is controlled to park in parking space 502 along the path indicated by path 507 (i.e., Class A path), and the planning of the Class B path to parking space 502 is stopped.

[0129] The parking space priorities shown in Figure 6 for parking spaces 502, 503 (i.e., the parking space indicated by icon 503), and 504 (i.e., the parking space indicated by icon 504) are only illustrative examples. The parking space priorities shown in Figure 6 can be considered as determined by the ease with which a vehicle can park in each parking space. The lower the difficulty of parking, the higher the priority of the corresponding parking space.

[0130] In some implementations, parking space priority can be determined based on the relative position of the parking spaces. For example, the closer a parking space is to the vehicle, the higher its priority. For instance, as shown in Figure 7(a), icons 602, 603, and 604 indicate parking spaces whose distances from the vehicle increase sequentially. Therefore, the priority of these parking spaces decreases sequentially. Different colored icons can be used to indicate the different priorities of these parking spaces. Furthermore, when the parking space indicated by icon 602 is detected as the target parking space, path 605, as shown in Figure 7(b), can be displayed. This path 605 indicates a Class A path for the vehicle to park in the parking space indicated by icon 602.

[0131] In some implementations, parking space priority can be determined based on driver preference. For example, if a driver prefers a parking space on the edge, then the edge parking space has a higher priority. For instance, for the available parking spaces indicated by icons 602, 603, and 604 shown in Figure 7(a), the parking space indicated by icon 604 has the highest priority, while the parking spaces indicated by icons 602 and 603 have the next highest priority.

[0132] The examples in Figures 6(c) and 6(d) and Figure 7(b) illustrate the use of the rear-entry parking path as an example. In actual implementation, the parking path corresponding to the front-entry parking method can also be planned and displayed first. In one example, when the driver prefers the front-entry parking method, the display device can be controlled to show the path corresponding to the front-entry method. For example, as shown in Figure 7(c), when the parking space indicated by icon 602 is selected as the target parking space, path 607 is displayed. Path 607 indicates a Class A path for the vehicle to park in the parking space indicated by icon 602 using the front-entry method. In another example, when the location of the parking space makes rear-entry parking difficult, the display device is controlled to show the path corresponding to the front-entry method. For example, as shown in Figure 7(d), when the target parking space indicated by icon 604 is selected, if it is difficult for the vehicle to enter the parking space indicated by icon 604 in a rear-entry manner (e.g., too many gear shifts during the parking process), path 608 is displayed. Path 608 indicates a Class A path for the vehicle to enter the parking space indicated by icon 604 in a front-entry manner.

[0133] In some implementations, when the highest priority parking space is selected as the target parking space, if a Class B path to that parking space has already been planned, the Class B path can be directly displayed. For example, as shown in Figure 8(a), if the parking space corresponding to icon 602 is the highest priority parking space among all available parking spaces, and this parking space is selected as the target parking space, then the control display device displays the path shown in Figure 8(b), which is a Class B path for the vehicle to park in the parking space corresponding to icon 602.

[0134] The icons indicating available parking spaces shown in Figures 6 to 8 are all determined based on actual parking spaces, such as empty parking spaces determined by parking lines or obstacle positions. In actual implementation, this application can also generate paths based on user-defined parking spaces. For example, as shown in Figure 9(a), a custom parking space button 801 is provided to the user on the parking interface. When the button 801 is clicked, a custom parking space icon can be generated. The user can drag the icon to an empty space to form a custom parking space. For example, if the user drags the custom parking space icon to the position of icon 802 or its vicinity, icon 802 can be snapped to the position shown in Figure 9(a). Furthermore, the vehicle can plan a path from the current position to the parking space indicated by icon 802. As another example, if the user drags the custom parking space icon to the position of icon 803 or its vicinity, icon 803 can be snapped to the position shown in Figure 9(c). Furthermore, the vehicle can plan a path from the current position to the parking space indicated by icon 803.

[0135] In some implementations, when planning the path for a vehicle to park in a custom parking space, the path corresponding to the rear-entry method can be planned first. Alternatively, the path can be planned first based on the positional relationship between the vehicle and the custom parking space, or the path corresponding to the front-entry method can be planned first. For example, if the custom parking space is located behind the vehicle, as shown in Figure 9(a), then the path corresponding to the rear-entry method is planned first, and when the custom parking space is selected as the target parking space, the path corresponding to the rear-entry method is displayed, as shown in Figure 9(b). As another example, if the custom parking space is located in front of the vehicle, as shown in Figure 9(c), then the path corresponding to the front-entry method is planned first, and when the custom parking space is selected as the target parking space, the path corresponding to the front-entry method is displayed, as shown in Figure 9(d).

[0136] It should be noted that there are several ways to determine the target parking space. In one example, the target parking space can be determined based on the user clicking the icon corresponding to an available parking space. For example, when the user clicks icon 502, the parking space corresponding to icon 502 (parking space 402) is determined as the target parking space. In another example, the highest priority available parking space is defaulted as the target parking space. In yet another example, if at least one available parking space is detected, and after a certain period of time (e.g., 5 seconds, 3 seconds, or another period) has elicited a prompt from the user to select a target parking space, and no user selection of a target parking space is detected, then the highest priority available parking space is determined as the target parking space.

[0137] It should also be noted that the icons displayed in the aforementioned interfaces are merely illustrative examples. In actual implementation, other icon styles can be used to indicate available parking spaces. For instance, different icon styles can be used to indicate multiple parking spaces with different priorities. Furthermore, in actual implementation, the aforementioned interfaces may include more or fewer elements. Additionally, the styles of paths 507 and 508 are only for the reader's understanding and differentiation between type A and type B paths. In actual implementation, the geometric shapes of the icons indicating type A and type B paths can be the same, but the colors of the icons corresponding to the two types of paths can be different; alternatively, the styles of the icons indicating type A and type B paths can also be the same, but the two types of paths can be distinguished by the number of gear shifts, curvature smoothness, etc.

[0138] In some implementations, different styles of icons can be used to indicate the path planning progress for each available parking space before and / or after the target parking space is determined but before parking begins. For example, as shown in Figure 10(a), icons 901 to 903 indicate three available parking spaces, with the parking space indicated by icon 901 having the highest priority. When a Class B path is planned for one or more available parking spaces, element 904 is added to the icon corresponding to the available parking space to indicate that the Class B path for that parking space has been planned. For example, when a Class B path is planned for the available parking space indicated by icon 901, element 904 is added to icon 901. In another example, when icon 901 is selected as the target parking space, the parking interface shown in Figure 10(b) is displayed, which includes a Class B path for the vehicle to park in the available parking space indicated by icon 901. Furthermore, if the Class B route corresponding to the available parking space indicated by icon 902 has been planned before parking begins, element 905 can be added to icon 902 to indicate that the Class B route corresponding to that parking space has been planned.

[0139] It should be understood that the icon style shown in Figure 10 indicating the path planning progress corresponding to the available parking space is only an example. In actual implementation, other icon styles can also be used to indicate the path planning progress corresponding to the available parking space.

[0140] Figure 11 shows a schematic flowchart of the parking regulation control method provided in the embodiment of this application. The method can be executed by the vehicle 100 shown in Figure 1, or by the system shown in Figure 2. For example, the method can be executed by the regulation control module 240 shown in Figure 2.

[0141] S1010: Acquire environmental perception information, which indicates the location of multiple parking spaces around the vehicle.

[0142] For example, the environmental perception information may include the environmental perception information in the aforementioned method 300.

[0143] For example, "around the vehicle" can specifically refer to a first range of the vehicle. This first range can be the area within a circle with the center of the vehicle as its center and a radius of a preset length; or, the first range can be the range that the vehicle's sensors can perceive. For example, the aforementioned preset length can be any value between 100 meters and 200 meters, or it can be any other value.

[0144] S1020, based on environmental perception information, the vehicle's display device displays at least one available parking space, and the multiple parking spaces include at least one available parking space.

[0145] For example, in the scenario shown in Figure 4, at least one parking space may include parking spaces 402 to 404 shown in Figure 4.

[0146] In some implementations, before executing S1020, the multiple parking spaces include at least one empty parking space. The method further includes: in a third planning mode, determining at least one available parking space from the at least one empty parking space based on environmental perception information; in a fourth planning mode, planning a third type of path from the current location of the vehicle to each available parking space; wherein, for the same parking space, the time required for planning the path in the third planning mode is less than the time required for planning the path in the fourth planning mode, and the fourth planning mode is either the first planning mode or the second planning mode.

[0147] For example, the third planning pattern can be planning pattern 1 in method 300, and the fourth planning pattern can be planning pattern 2 or planning pattern 3 in method 300. When the fourth planning pattern is planning pattern 2, the third type of path is the aforementioned type A path; when the fourth planning pattern is planning pattern 3, the third type of path is the aforementioned type B path.

[0148] In some implementations, at least one available parking space also includes a fourth available parking space, where the parking priority of the first available parking space is higher than that of the fourth available parking space. Planning a third type of path from the vehicle's current location to each available parking space in the at least one available parking space includes: first planning a third type of path from the vehicle's current location to the first available parking space; and then planning a third type of path from the vehicle's current location to the fourth available parking space.

[0149] It should be noted that the "planning first" and "planning second" in this implementation refer to the order of the tasks of planning the third type of path for the first available parking space and the fourth available parking space in the task sequence. In actual operation, if multi-threaded parallel computing is used, the operations of planning the third type of path for the first available parking space and the operations of planning the third type of path for the fourth available parking space may be executed synchronously. For example, if the fourth planning mode is planning mode 2, and the first available parking space is parking space B in method 300, and the fourth available parking space is parking space C in method 300, then according to the schematic diagram of multi-threaded computing shown in Figure 4, the operations of planning the third type of path for the first available parking space and the operations of planning the third type of path for the fourth available parking space can be executed simultaneously.

[0150] In some implementations, for the same parking space, the time required for the second planning mode to plan the second type of path is less than the time required for the first planning mode to plan the first type of path. When the fourth planning mode is the second planning mode, the third type of path is the second type of path. The method also includes: after planning the second type of path, in the first planning mode, planning the first type of path from the current location of the vehicle to each of the at least one available parking space.

[0151] It should be noted that the aforementioned planning of the first type of path after planning the second type of path refers to the order of the tasks of planning the second type of path and planning the first type of path in the task sequence.

[0152] For more specific methods of route planning, please refer to the description in Method 300 above, which will not be repeated here.

[0153] S1030, in response to the selection of a first available parking space as the target parking space among at least one available parking space, the control display device displays a first path, which is a planned path from the current location of the vehicle to the first available parking space. The first path is either a first type path or a second type path. The first type path is planned by a first planning mode, and the second type path is planned by a second planning mode.

[0154] For example, the first type of path can be the type B path in the aforementioned embodiments, and the second type of path can be the type A path in the aforementioned embodiments. Correspondingly, the first planning mode can be planning mode 2 in the aforementioned embodiments, and the second planning mode can be planning mode 3 in the aforementioned embodiments.

[0155] In some implementations, the first path is a second type of path, which indicates the first type of path from the current location of the vehicle to the first available parking space. For the same parking space, the time required for the second planning mode to plan the second type of path is less than the time required for the first planning mode to plan the first type of path. The method also includes: controlling the display device to switch from displaying the first path to displaying the second path.

[0156] In some implementations, controlling the display device to switch from displaying a first path to displaying a second path includes: in response to an instruction to begin parking in a first available parking space, controlling the display device to switch from displaying a first path to displaying a second path.

[0157] For example, taking the first available parking space as indicated by icon 502 in Figure 5, the first path can be path 507 as shown in Figure 5, and the second path can be path 508 as shown in Figure 5.

[0158] In some implementations, at least one available parking space further includes a second available parking space; when the parking space priority of the first available parking space is greater than the parking space priority of the second available parking space, the first path is a first type of path; or, when the parking space priority of the first available parking space is less than the parking space priority of the second available parking space, the first path is a second type of path; wherein, the parking space priority indicates the difficulty coefficient of a vehicle parking in the available parking space; or, the parking space priority indicates the probability that the available parking space is selected as the target parking space.

[0159] In some implementations, the higher the priority of an available parking space, the easier it is to instruct a vehicle to park in that space; or, the higher the priority of an available parking space, the greater the likelihood that it will be selected as the target parking space.

[0160] For example, if the first available parking space is the available parking space indicated by icon 604 in Figure 7 and the second available parking space is the available parking space indicated by icon 602 in Figure 7, the first path can be path 608 as shown in (d) of Figure 7; if the first available parking space is the available parking space indicated by icon 602 in Figure 8 and the second available parking space is the available parking space indicated by icon 603 or icon 604 in Figure 8, the first path can be path shown in (b) of Figure 8.

[0161] In some implementations, when the parking space priorities of the first available parking space and the second available parking space are different, the display device controlling the vehicle displays at least one available parking space, including: the display device displays a first-style icon to indicate the first available parking space, and the display device displays a second-style icon to indicate the second available parking space.

[0162] For example, the first style icon and the second style icon can be icon 502 shown in Figure 6(b) and icon 503 (or icon 504) shown in Figure 6(b), respectively. Alternatively, the first style icon and the second style icon can be any two of icons 602 to 604 shown in Figure 7(a).

[0163] In some implementations, for the same parking space, if the time required for the second planning mode to plan the second type of path is less than the time required for the first planning mode to plan the first type of path, the display device controlling the vehicle will display at least one available parking space. This includes: when a second type of path corresponding to the first available parking space has been planned, but a first type of path corresponding to the first available parking space has not been planned, the display device will display a third type of icon to indicate the first available parking space; or, when a first type of path corresponding to the first available parking space has been planned, the display device will display a fourth type of icon to indicate the first available parking space.

[0164] For example, the third style icon can be icon 902 or icon 903 shown in Figure 10(a), the fourth style icon can be an icon formed by combining icon 901 and element 904 shown in Figure 10(a), or the fourth style icon can be an icon formed by combining icon 902 and element 905 shown in Figure 10(b).

[0165] In some implementations, at least one available parking space further includes a third available parking space, and the method further includes: in response to the third available parking space being selected as the target parking space, a control display device displays a third path; the third path is a first-type path or a second-type path from the current location of the vehicle to the third available parking space.

[0166] For example, taking the parking space indicated by icon 602 in Figure 7 as the first parking space and the parking space indicated by icon 604 in Figure 7 as the third parking space, the first path can be path 605 or path 607, and the third path can be path 608.

[0167] In one example, the first path is the planned path for parking the vehicle into the first available parking space from its current position using the first position. The first position includes any one of the following: rear parking, front parking, left parking, right parking, or center parking.

[0168] In another example, when the difficulty of parking the vehicle in the first parking space using the first position is greater than the difficulty of parking the vehicle in the first parking space using the second position, the first path is the path for the vehicle to park in the first parking space using the second position. The second position includes any one of the following that differs from the first position: rear parking, front parking, left parking, right parking, or center parking.

[0169] In another example, when the first available parking space is in front of the vehicle, the first path is the path for the front of the vehicle to park in the first available parking space; or, when the first available parking space is behind the vehicle, the first path is the path for the rear of the vehicle to park in the first available parking space.

[0170] In another example, the first path, which is the path for the rear of the vehicle to park in the first available parking space, or the first path, which is the path for the front of the vehicle to park in the first available parking space, is determined based on the driver's historical data.

[0171] Regarding whether the first path is the path corresponding to the head input or the path corresponding to the tail input, please refer to the descriptions of the corresponding parts in Figures 7 to 9 above, which will not be repeated here.

[0172] The parking control method provided in this application displays a first-type path or a second-type path after determining the target parking space. This allows the user to quickly determine the difficulty of parking in the target parking space before parking begins. When the parking difficulty is low, the vehicle can be controlled to park in the target parking space, which helps improve parking efficiency. When the parking difficulty is high, the user can reselect a new parking space with lower parking difficulty as the target parking space to control the vehicle's parking, which still helps improve parking efficiency.

[0173] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0174] The methods provided by the embodiments of this application have been described in detail above with reference to Figures 1 to 11. The apparatus provided by the embodiments of this application will now be described in detail with reference to Figures 12 and 13. It should be understood that the descriptions of the apparatus embodiments correspond to the descriptions of the method embodiments; therefore, any content not described in detail can be found in the above method embodiments, and for the sake of brevity, will not be repeated here.

[0175] Figure 12 shows a schematic block diagram of a parking control device 2000 provided in an embodiment of this application. The device 2000 may include units for executing the methods described in the foregoing embodiments. Furthermore, each unit in the device 2000 implements a corresponding process of the above method embodiments. The device 2000 includes an acquisition unit 2010, which can be used to implement corresponding data acquisition or transmission / reception functions. The device 2000 also includes a processing unit 2020, which can be used to implement corresponding processing functions.

[0176] Optionally, the device 2000 further includes a storage unit, which can be used to store instructions and / or data. The processing unit 2020 can read the instructions and / or data in the storage unit so that the device can perform the relevant actions in the aforementioned method embodiments.

[0177] It should be understood that the specific process of each unit performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0178] It should also be understood that the device 2000 described herein is embodied in the form of a functional unit. The terms “module” or “unit” may refer to application-specific ASICs, electronic circuits, processors (e.g., shared processors, proprietary processors, or group processors) and memory for executing one or more software or firmware programs, integrated logic circuits, and / or other suitable components that support the described functions.

[0179] The apparatuses described above have the function of implementing the corresponding steps in the methods described above. These functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above; for example, the acquisition unit 2010 can be replaced by a transceiver, and other units, such as the processing unit, can be replaced by a processor, used to execute the relevant processing operations in each method embodiment.

[0180] For example, the acquisition unit 2010 and the processing unit 2020 can be disposed in the control module 240 shown in FIG2. The operations performed by the acquisition unit 2010 and the processing unit 2020 can be performed by a single processor, or they can be performed by different processors. In a specific implementation, the one or more processors can be processors disposed in the vehicle's computing platform; or, the device 2000 can be a chip disposed in the vehicle.

[0181] In the specific implementation process, the units in the above device can be fully or partially integrated together, or they can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0182] Figure 13 is another schematic block diagram of the parking control device provided in the embodiments of this application. The device 2100 shown in Figure 13 may include: a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, transceiver 2120, and memory 2130 are connected via internal connection paths. The memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Optionally, the memory 2130 may be coupled to the processor 2110 via an interface or integrated with the processor 2110.

[0183] It should be noted that the transceiver 2120 mentioned above may include, but is not limited to, transceiver devices such as input / output interfaces, to realize communication between device 2100 and other devices or communication networks.

[0184] Memory 2130 can be volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes various forms such as: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0185] Transceiver 2120 uses transceiver devices, such as but not limited to transceivers, to enable communication between device 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above embodiments.

[0186] This application also provides an intelligent driving device, which includes the device 2000 or device 2100 in the above embodiments.

[0187] This application also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to implement the methods described in the above embodiments of this application.

[0188] This application also provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to implement the methods described in the above embodiments of this application.

[0189] This application also provides a chip, including circuitry, for performing the methods described in the above embodiments of this application.

[0190] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0191] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In this application, "at least one" means one or more, and "more" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0192] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.

[0193] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0194] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0195] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0196] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0197] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A parking regulation control method, characterized in that, include: Acquire environmental perception information, which indicates the location of multiple parking spaces around the vehicle; Based on the environmental perception information, the vehicle's display device is controlled to display at least one available parking space, and the plurality of parking spaces include the at least one available parking space; In response to the selection of a first available parking space as the target parking space among the at least one available parking spaces, the display device is controlled to display a first path, which is a planned path from the current location of the vehicle to the first available parking space. The first path is either a first type of path or a second type of path, where the first type of path is planned by a first planning mode and the second type of path is planned by a second planning mode.

2. The method according to claim 1, characterized in that, The first path is the second type of path, and the second path indicates the first type of path from the current location of the vehicle to the first available parking space. For the same parking space, the time required for the second planning mode to plan the second type of path is less than the time required for the first planning mode to plan the first type of path. The method further includes: Control the display device to switch from displaying the first path to displaying the second path.

3. The method according to claim 2, characterized in that, The control of the display device to switch from displaying the first path to displaying the second path includes: In response to an instruction to begin parking in the first available parking space, the display device is controlled to switch from displaying the first path to displaying the second path.

4. The method according to claim 2 or 3, characterized in that, The at least one available parking space also includes a second available parking space; When the parking priority of the first available parking space is greater than that of the second available parking space, the first path is the first type of path; or, When the parking priority of the first available parking space is lower than that of the second available parking space, the first path is the second type of path; The parking space priority indicates the difficulty level of parking a vehicle in the parking space; or, the parking space priority indicates the likelihood of the parking space being selected as the target parking space.

5. The method according to claim 4, characterized in that, When the parking space priorities of the first available parking space and the second available parking space are different, the display device controlling the vehicle displays at least one available parking space, including: The display device is controlled to display an icon of a first style to indicate the first available parking space, and the display device is also controlled to display an icon of a second style to indicate the second available parking space.

6. The method according to any one of claims 1 to 5, characterized in that, For the same parking space, the time required for the second planning mode to plan the second type of route is less than the time required for the first planning mode to plan the first type of route. The display device controlling the vehicle displays at least one available parking space, including: When a second type of path corresponding to the first available parking space has been planned, but a first type of path corresponding to the first available parking space has not been planned, the display device is controlled to display a third-style icon to indicate the first available parking space; or, When the first type of path corresponding to the first available parking space has been planned, the display device is controlled to display a fourth style icon to indicate the first available parking space.

7. The method according to any one of claims 1 to 6, characterized in that, The at least one available parking space further includes a third available parking space, and the method further includes: In response to the selection of the third available parking space as the target parking space, the display device is controlled to display the third path; The third path is either the first type of path or the second type of path from the current location of the vehicle to the third available parking space.

8. The method according to any one of claims 1 to 7, characterized in that, The first path is a planned path from the current position of the vehicle to the first available parking space in the first parking posture.

9. The method according to claim 8, characterized in that, The first position includes any one of tail-in, head-in, left-side-in, right-side-in, and center-in.

10. The method according to any one of claims 1 to 7, characterized in that, When the difficulty of parking the vehicle in the first parking space in the first position is greater than the difficulty of parking the vehicle in the first parking space in the second position, the first path is the path of parking the vehicle in the first parking space in the second position.

11. The method according to any one of claims 1 to 7, characterized in that, When the first available parking space is in front of the vehicle, the first path is the path along which the front of the vehicle enters the first available parking space; or, When the first available parking space is located behind the vehicle, the first path is the path through which the rear of the vehicle enters the first available parking space.

12. The method according to any one of claims 1 to 7, characterized in that, The first path is the path by which the rear of the vehicle enters the first available parking space, or the first path is the path by which the front of the vehicle enters the first available parking space, and is determined based on the historical data of the vehicle's driver.

13. The method according to any one of claims 1 to 12, characterized in that, The plurality of parking spaces includes at least one vacant parking space, and the method further includes: In the third planning mode, the at least one available parking space is determined from the at least one empty parking space based on the environmental perception information; In the fourth planning mode, a third type of path is planned from the current location of the vehicle to each of the at least one available parking spaces. For the same parking space, the time required for the path planning in the third planning mode is less than the time required for the path planning in the fourth planning mode, where the fourth planning mode is either the first planning mode or the second planning mode.

14. The method according to claim 13, characterized in that, The at least one available parking space further includes a fourth available parking space, wherein the parking priority of the first available parking space is higher than that of the fourth available parking space, and the planning of a third type of path from the current location of the vehicle to each of the at least one available parking space includes: First, plan the third type of path from the current location of the vehicle to the first available parking space; Then plan the third type of path from the current location of the vehicle to the fourth available parking space.

15. The method according to claim 13 or 14, characterized in that, For the same parking space, the time required for the second planning mode to plan the second type of path is less than the time required for the first planning mode to plan the first type of path. When the fourth planning mode is the second planning mode, the third type of path is the second type of path. The method further includes: After planning the second type of path, in the first planning mode, a first type of path is planned from the current location of the vehicle to each of the at least one available parking space.

16. A parking regulation control device, characterized in that, include: An acquisition unit is used to acquire environmental perception information, which indicates the location of multiple parking spaces around the vehicle. The processing unit is configured to control the vehicle's display device to display at least one available parking space based on the environmental perception information, wherein the plurality of parking spaces includes the at least one available parking space; The processing unit is further configured to: in response to the selection of a first available parking space as a target parking space among the at least one available parking spaces, control the display device to display a first path, the first path being a planned path from the current location of the vehicle to the first available parking space, the first path being either a first type of path or a second type of path, the first type of path being planned by a first planning mode, and the second type of path being planned by a second planning mode.

17. The apparatus according to claim 16, characterized in that, The first path is the second type of path, and the second path indicates the first type of path from the current location of the vehicle to the first available parking space. For the same parking space, the time required for the second planning mode to plan the second type of path is less than the time required for the first planning mode to plan the first type of path. The processing unit is further configured to: Control the display device to switch from displaying the first path to displaying the second path.

18. The apparatus according to claim 17, characterized in that, The processing unit is used for: In response to an instruction to begin parking in the first available parking space, the display device is controlled to switch from displaying the first path to displaying the second path.

19. The apparatus according to claim 17 or 18, characterized in that, The at least one available parking space also includes a second available parking space; When the parking priority of the first available parking space is greater than that of the second available parking space, the first path is the first type of path; or, When the parking priority of the first available parking space is lower than that of the second available parking space, the first path is the second type of path; The parking space priority indicates the difficulty level of parking a vehicle in the parking space; or, the parking space priority indicates the likelihood of the parking space being selected as the target parking space.

20. The apparatus according to claim 19, characterized in that, When the parking space priorities of the first available parking space and the second available parking space are different, the processing unit is used to: The display device is controlled to display an icon of a first style to indicate the first available parking space, and the display device is also controlled to display an icon of a second style to indicate the second available parking space.

21. The apparatus according to any one of claims 16 to 20, characterized in that, For the same parking space, the time required for the second planning mode to plan the second type of path is less than the time required for the first planning mode to plan the first type of path. The processing unit is further configured to: When the second type of path corresponding to the first available parking space has been planned, but the first type of path corresponding to the first available parking space has not been planned, the display device is controlled to display a third style icon to indicate the first available parking space; or, When the first type of path corresponding to the first available parking space has been planned, the display device is controlled to display a fourth style icon to indicate the first available parking space.

22. The apparatus according to any one of claims 16 to 21, characterized in that, The at least one parking space further includes a third parking space, and the processing unit is further configured to: In response to the selection of the third available parking space as the target parking space, the display device is controlled to display the third path; The third path is either the first type of path or the second type of path from the current location of the vehicle to the third available parking space.

23. The apparatus according to any one of claims 16 to 22, characterized in that, The first path is a planned path from the current position of the vehicle to the first available parking space in the first parking posture.

24. The apparatus according to claim 23, characterized in that, The first position includes any one of tail-in, head-in, left-side-in, right-side-in, and center-in.

25. The apparatus according to any one of claims 16 to 22, characterized in that, When the difficulty of parking the vehicle in the first parking space in the first position is greater than the difficulty of parking the vehicle in the first parking space in the second position, the first path is the path for the vehicle to park in the first parking space in the second position.

26. The apparatus according to any one of claims 16 to 22, characterized in that, When the first available parking space is in front of the vehicle, the first path is the path along which the front of the vehicle enters the first available parking space; or, When the first available parking space is located behind the vehicle, the first path is the path through which the rear of the vehicle enters the first available parking space.

27. The apparatus according to any one of claims 16 to 22, characterized in that, The first path is the path by which the rear of the vehicle enters the first available parking space, or the first path is the path by which the front of the vehicle enters the first available parking space, and is determined based on the historical data of the vehicle's driver.

28. The apparatus according to any one of claims 16 to 27, characterized in that, The plurality of parking spaces includes at least one vacant parking space, and the processing unit is further configured to: In the third planning mode, the at least one available parking space is determined from the at least one empty parking space based on the environmental perception information; In the fourth planning mode, a third type of path is planned from the current location of the vehicle to each of the at least one available parking spaces. For the same parking space, the time required for the path planning in the third planning mode is less than the time required for the path planning in the fourth planning mode, where the fourth planning mode is either the first planning mode or the second planning mode.

29. The apparatus according to claim 28, characterized in that, The at least one available parking space further includes a fourth available parking space, wherein the parking space priority of the first available parking space is higher than that of the fourth available parking space, and the processing unit is used to: First, plan the third type of path from the current location of the vehicle to the first available parking space; Then plan the third type of path from the current location of the vehicle to the fourth available parking space.

30. The apparatus according to claim 28 or 29, characterized in that, For the same parking space, the time required for the second planning mode to plan the second type of path is less than the time required for the first planning mode to plan the first type of path. When the fourth planning mode is the second planning mode, the third type of path is the second type of path. The processing unit is used for: After planning the second type of path, in the first planning mode, a first type of path is planned from the current location of the vehicle to each of the at least one available parking space.

31. A parking regulation control device, characterized in that, include: A processor for executing a computer program stored in memory, such that the means performs the functions described in any one of claims 1 to 15. The method described.

32. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, implement the method as described in any one of claims 1 to 15.

33. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 15.

34. A computer program product, characterized in that, The computer program product includes: computer program code, which, when executed by a processor, implements the method as described in any one of claims 1 to 15.

35. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 16 to 31, or the computer-readable storage medium as described in claim 32, or the chip as described in claim 33, or the vehicle is equipped with the computer program product as described in claim 34.

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