Parking method and apparatus, and vehicle

Abstract

A parking method and apparatus, and a vehicle. The method comprises: acquiring a first instruction, the first instruction instructing a vehicle to pause parking via a first parking function; on the basis of the first instruction, controlling the vehicle to pause parking into a target parking space; and when the occupancy status of a main driver seat of the vehicle has changed and / or a second instruction instructing to continue parking is acquired, on the basis of a second parking function, controlling the vehicle to continue parking into the target parking space. The present technical solution can be applied to the field of intelligent driving of intelligent vehicles such as new energy vehicles and electric vehicles. During an automated parking process, when the occupancy status of the main driver seat has changed, the parking function can be directly switched to continue parking without requiring users to reselect a parking space or re-perform parking authorization, thereby helping to improve parking efficiency and parking experience of users.

Description

Parking methods, devices and vehicles Technical Field

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

[0002] Automated parking (AP) refers to the automatic parking of a vehicle, meaning that an autonomous driving system can semi-automatically or fully automatically help the user park the vehicle in a parking space. Automated parking can include automated parking assist (APA), remote parking assist (RPA), and automated valet parking (AVP), among others.

[0003] Current automatic parking systems are time-consuming and cumbersome to switch between different parking functions during vehicle parking, resulting in low parking efficiency and a poor user experience.

[0004] Summary of the Invention

[0005] This application provides a parking method, device, and vehicle. During automatic parking, if the position of the driver's seat changes, the parking function can be switched directly to continue parking without the user having to reselect a parking space or re-authorize parking, which helps to improve parking efficiency and the user's parking experience.

[0006] Firstly, a parking method is provided that can be executed by a vehicle, for example, by the vehicle's computing platform, or by a chip or circuitry used in the vehicle.

[0007] The method includes: acquiring a first instruction, the first instruction instructing the vehicle to suspend parking using a first parking function; controlling the vehicle to suspend parking towards the target parking space according to the first instruction; and controlling the vehicle to continue parking towards the target parking space based on a second parking function when the position of the driver's seat of the vehicle changes, and / or when a second instruction instructing continued parking is acquired.

[0008] In the above technical solution, when parking is paused while using one parking function, the system can switch to another parking function to continue parking based on changes in the driver's seat position and / or received instructions to continue parking. During this process, the user does not need to reselect a target parking space or re-authorize parking, simplifying the parking process and improving efficiency. Furthermore, the seamless switching between parking functions enhances the user's parking experience.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, when the first parking function is a parking function that requires the driver's seat to be in place, and the situation changes from someone being in place to someone not being in place, the second parking function is a parking function that does not require the driver's seat to be in place; or, when the first parking function is a parking function that does not require the driver's seat to be in place, and the situation changes from someone being in place to someone being in place, the second parking function is a parking function that requires the driver's seat to be in place.

[0010] In the above technical solution, the parking function can be switched according to the change in the driver's seat position during the parking process, which can improve the intelligence of the parking function and the human-like experience during vehicle parking. Furthermore, this process does not require the user to operate the vehicle or any vehicle-related electronic devices, helping to simplify user operations and improve the user's parking experience.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, when a second instruction to continue parking is received, the first parking function is a parking function that requires the driver's seat to be in place, and the second parking function is a parking function that does not require the driver's seat to be in place; or, when the first parking function is a parking function that does not require the driver's seat to be in place, and the presence status is that someone is in place, the second parking function is a parking function that requires the driver's seat to be in place.

[0012] In the above technical solution, when the vehicle responds to the second command to continue parking, if it is necessary to switch from a parking function that does not require the driver's seat to a parking function that requires the driver's seat to be in place, then the parking function switch is performed while the driver is in place, which helps to improve the reliability and safety of the parking system.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, the second instruction also instructs to switch the parking function.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the second instruction is generated in response to a first operation on a button used to control continued parking and / or control switching parking functions.

[0015] For example, the button can be a virtual button in the vehicle's human-machine interface (such as the interface displayed on the central control screen), or it can be a virtual button on an electronic device associated with the vehicle. Alternatively, the button can be a physical button in the vehicle or electronic device used to control continued parking or to control switching parking functions.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the second instruction is received from an electronic device associated with the vehicle.

[0017] The above technical solution provides users with a way to switch parking functions via electronic devices. After switching parking functions via electronic devices, users can still achieve seamless parking function switching without having to reselect a target parking space, thereby improving the user's parking experience and convenience.

[0018] In conjunction with the first aspect, in some implementations of the first aspect, the parking function that does not require the driver's seat to be in place is RPA, and the parking function that requires the driver's seat to be in place is APA.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, when the second parking function is a parking function that does not require the driver's seat to be in place, controlling the vehicle to continue parking in the target parking space based on the second parking function includes: controlling the vehicle to park in the target parking space based on the second parking function when the distance between the vehicle's occupants and the vehicle is greater than or equal to a distance threshold and the vehicle's doors are closed.

[0020] In the above technical solution, when the vehicle is parked using a parking function that does not require the driver's seat to be in place, the vehicle is only controlled to continue parking when the distance between the occupants and the vehicle is greater than a certain distance. This helps to improve the safety of the parking process and avoid collisions between the vehicle and obstacles such as the occupants during parking.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: controlling a vehicle's prompting device to display a first prompting message, the first prompting message being used to prompt a person outside the vehicle's cabin that the vehicle is parking without the driver's seat being in place.

[0022] In the above technical solution, when parking the vehicle using a parking function that does not require the driver's seat to be in place, relevant information is displayed outside the vehicle's cabin through a prompting device, which helps pedestrians or other vehicles outside the vehicle to avoid the vehicle in time, thus improving safety during the parking process.

[0023] In conjunction with the first aspect, in some implementations of the first aspect, obtaining the first instruction includes: generating the first instruction when the first door of the vehicle is opened during the process of the vehicle parking into the target parking space under the first parking function.

[0024] In the above technical solution, regardless of whether the user is inside or outside the vehicle, as long as the user opens the car door, the parking can be paused, which helps to improve the safety and convenience of the parking process.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, obtaining the first instruction includes: receiving first information from an electronic device associated with the vehicle, the first information being used to instruct parking to be paused; and generating the first instruction based on the first information.

[0026] In conjunction with the first aspect, in some implementations of the first aspect, obtaining the first instruction includes: generating the first instruction when a first action is detected targeting a first body area of ​​the vehicle, or when a first human posture is detected within a first range of the vehicle.

[0027] In the above technical solution, controlling the vehicle to stop moving based on external movements of the vehicle body or detected specific human postures helps to improve the safety of the parking process and the convenience of controlling the parking procedure.

[0028] Secondly, a parking device is provided, comprising an acquisition unit and a processing unit, wherein the acquisition unit is configured to acquire a first instruction, the first instruction instructing the vehicle to suspend parking using a first parking function; the processing unit is configured to control the vehicle to suspend parking toward a target parking space according to the first instruction; and when the presence of the driver's seat of the vehicle changes, and / or when the acquisition unit acquires a second instruction instructing continued parking, the processing unit controls the vehicle to continue parking toward the target parking space based on a second parking function.

[0029] In conjunction with the second aspect, in some implementations of the second aspect, when the first parking function is a parking function that requires the driver's seat to be in place, and the situation changes from someone being in place to someone not being in place, the second parking function is a parking function that does not require the driver's seat to be in place; or, when the first parking function is a parking function that does not require the driver's seat to be in place, and the situation changes from someone being in place to someone being in place, the second parking function is a parking function that requires the driver's seat to be in place.

[0030] In conjunction with the second aspect, in some implementations of the second aspect, when the acquisition unit acquires a second instruction to continue parking, the first parking function is a parking function that requires the driver's seat to be in place, and the second parking function is a parking function that does not require the driver's seat to be in place; or, when the first parking function is a parking function that does not require the driver's seat to be in place, and the presence status is that someone is in place, the second parking function is a parking function that requires the driver's seat to be in place.

[0031] In conjunction with the second aspect, in some implementations of the second aspect, the second instruction also instructs the switching of the parking function.

[0032] In conjunction with the second aspect, in some implementations of the second aspect, the second instruction is generated in response to a first operation on a button used to control continued parking and / or control switching parking functions.

[0033] In conjunction with the second aspect, in some implementations of the second aspect, the second instruction is received from electronic equipment associated with the vehicle.

[0034] In conjunction with the second aspect, in some implementations of the second aspect, the parking function that does not require the driver's seat to be in place is RPA, and the parking function that requires the driver's seat to be in place is APA.

[0035] In conjunction with the second aspect, in some implementations of the second aspect, when the second parking function is a parking function that does not require the driver's seat to be in place, the processing unit is used to: control the vehicle to park in the target parking space based on the second parking function when the distance between the vehicle's occupants and the vehicle is greater than or equal to a distance threshold and the vehicle's doors are closed.

[0036] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: control the vehicle's prompting device to display a first prompting message, the first prompting message being used to prompt persons outside the vehicle's cabin that the vehicle is parking without the driver's seat being in place.

[0037] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is used to generate a first instruction when the first door of the vehicle is opened during the process of the vehicle parking into the target parking space under the first parking function.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is configured to: receive first information from an electronic device associated with the vehicle, the first information being used to instruct parking to be paused; and generate a first instruction based on the first information.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is used to: generate a first instruction when a first action is detected targeting a first body area of ​​the vehicle, or when a first human posture is detected within a first range of the vehicle.

[0040] Thirdly, a parking device is provided, the device comprising: a processor for executing a computer program stored in the memory, such that the device performs the method in any possible implementation of the first aspect described above.

[0041] In conjunction with the third aspect, in some implementations of the third aspect, the device also includes a memory.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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

[0049] Figure 1 is a functional schematic block diagram of the vehicle provided in an embodiment of this application;

[0050] Figure 2 is a schematic block diagram of the parking system architecture provided in an embodiment of this application;

[0051] Figure 3 is a schematic flowchart of the parking method provided in an embodiment of this application;

[0052] Figure 4 is another schematic flowchart of the parking method provided in the embodiments of this application;

[0053] Figure 5 is another schematic flowchart of the parking method provided in the embodiments of this application;

[0054] Figure 6 is a schematic diagram of the GUI provided in an embodiment of this application;

[0055] Figure 7 is another schematic diagram of the GUI provided in the embodiments of this application;

[0056] Figure 8 is a schematic diagram of an application scenario of the parking method provided in the embodiments of this application;

[0057] Figure 9 is a schematic block diagram of a parking device provided in an embodiment of this application;

[0058] Figure 10 is another schematic block diagram of the parking device provided in the embodiments of this application. Detailed Implementation

[0059] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0060] 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 perception system 120, a prompting device 130, a communication system 140, and a computing platform 150. The perception system 120 may include several sensors for sensing information about the environment surrounding the vehicle 100. For example, the perception 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 perception system 120 may also include one or more of the following: an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0061] The prompting device 130 may include any of the following: a display device, a sound device, and a lighting device. The display device is mainly divided into two categories: the first is an in-vehicle display screen; the second is a projection display screen, such as a head-up display (HUD). An in-vehicle display screen is a physical display screen 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. A head-up display, also known as a head-up display system, is mainly used to display driving information such as speed and navigation on a display device (e.g., the windshield) in front of the driver. 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. Sound-generating devices can include in-vehicle speakers, in-vehicle audio systems, and other in-vehicle sound-generating devices; alternatively, they can include external speakers, external audio systems, and other external sound-generating devices. Lighting devices are used to display light; these can include in-vehicle lighting devices such as ambient lighting, or external lighting devices such as headlights and pixel-type headlights. Pixel-type headlights can include, but are not limited to, lighting devices based on digital light processing (DLP) technology, lighting devices based on micro light emitting diode (Micro-LED) technology, or lighting devices based on liquid crystal displays (LCDs).

[0062] The communication system 140 may integrate one or more devices, including at least one communication module. The communication system 140 can transmit and receive electromagnetic waves via an antenna, enabling the vehicle 100 to communicate with servers, other vehicles, roadside equipment, etc., based on a vehicle-to-everything (V2X) network, such as vehicle-to-vehicle (V2V) communication networks, vehicle-to-infrastructure (V2I) communication networks, and vehicle-to-network (V2N) communication networks. Wireless communication technologies may also include short-range wireless communication technologies, such as Bluetooth (BT), radio frequency identification (RFID), and NearLink. For example, the communication system 140 may include an onboard telematics box (T-box), or it may include other communication modules. In actual implementation, vehicle 100 communicates with cloud servers, roadside equipment, etc. via T-box, and vehicle 100 communicates with other devices with the same wireless short-range communication module via other wireless short-range communication modules.

[0063] 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 related functions. 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.

[0064] 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.

[0065] 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 1, RPA is approximately at Level 2-L3, and AVP is approximately at Level 4.

[0066] The roles of the perception system 120, the prompting device 130, the communication system 140, and the computing platform 150 in this application are explained in detail below with reference to Figure 2. Figure 2 shows a schematic block diagram of the parking system architecture provided in an embodiment of this application. The system includes a perception module 210, a planning and control module 220, a human-machine interaction module 230, and an actuator 240. In some implementations, the system also includes a communication module 250. Exemplarily, the perception module 210 may include one or more sensors in the perception system 120 shown in Figure 1; the planning and control module 220 may include one or more processors in the computing platform shown in Figure 1; the human-machine interaction module 230 may include one or more devices in the prompting device 130; the actuator 240 may include the steering and braking control system in the vehicle 100; and the communication module 250 may include one or more modules in the communication system 140 shown in Figure 1. The roles of each module are as described in items (I) to (V) below.

[0067] (i) The perception module 210 is used to collect environmental information about the area where the vehicle is located, such as information about parking lines and obstacles. The perception module 210 can 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 220). For example, the perception module 210 can 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 220.

[0068] In some implementations, the sensing module 210 can also be used to collect sensing information around the vehicle, which can indicate whether there is a specific human posture around the vehicle, and can also indicate whether there is an action targeting a specific area of ​​the vehicle body.

[0069] In some other implementations, the sensing module 210 can also be used to collect sensing information inside the vehicle cabin to determine whether there is a person in the driver's seat of the vehicle cabin.

[0070] (ii) The planning and control module 220 is used to plan the parking path to the target parking space and control the vehicle to park along the planned path to the target parking space. During the parking process, the planning and control module 220 can also switch parking functions according to changes in the vehicle's status and the driver's presence, such as switching from parking function 1 to parking function 2, or vice versa. Parking function 1 can be a parking function requiring the driver's presence, such as APA; parking function 2 can be a parking function that does not require the driver's presence, such as RPA.

[0071] In some implementations, parking function 1 and parking function 2 can be implemented by two separate sets of computer program code, or parking function 1 and parking function 2 can be implemented by a single set of computer program code.

[0072] (iii) The human-machine interaction module 230 is used to provide information prompts according to the instructions of the planning control module 220, such as indicating the position of the available parking space relative to the vehicle. In addition, the human-machine interaction module 230 can also respond to the user's selection, determine the target parking space from one or more available parking spaces, and send the information of the target parking space to the planning control module 220 so that the planning control module 220 can plan a path to park in the target parking space.

[0073] (iv) The actuator 240 is used to receive and execute control quantities. When the aforementioned control quantities are executed, it can control the vehicle to travel towards the target parking space or target location according to the planned path. The control quantities can be calculated by the planning control module 220 based on the planned path.

[0074] (v) The communication module 250 is used to communicate with electronic devices associated with the vehicle, for example, to send information indicating parking or driving status to the electronic devices; or to receive information from the electronic devices for controlling the parking process of the vehicle. The association between the vehicle and the electronic devices can be understood as: the accounts used to log in to the electronic devices and the vehicle's infotainment system are the same; or, although the accounts used to log in to the electronic devices and the vehicle's infotainment system are different, both are accounts belonging to the authorized user of the vehicle. For example, the electronic devices can be handheld devices, wearable devices, computing devices, or other processing devices connected to a wireless modem, etc. For example, the electronic devices can be mobile phones, tablets, watches, wristbands, etc. The electronic devices can display or push parking status-related information through a vehicle owner application, wherein the vehicle owner application can include applications that provide vehicle control for the legally authorized user of the vehicle, and / or applications that provide services such as providing the legally authorized user of the vehicle with information about the vehicle's status.

[0075] It should be understood that the above modules are only an example, and in actual applications, these modules may be added or removed according to actual needs. For example, in the system architecture shown in Figure 2, the planning control module 220 and the communication module 250 can be merged into one module.

[0076] Figure 3 shows a schematic flowchart of the parking method provided in an embodiment of this application. This method 300 can be executed by the vehicle 100 shown in Figure 1, or by the planning and control module 220 shown in Figure 2. Specifically, the method may include:

[0077] S310, Receive first instruction, the first instruction instructs the vehicle to suspend parking through the first parking function.

[0078] In some implementations, S310 is executed when the vehicle is controlled to park in the target parking space via the first parking function; or, when the vehicle is in the state where the first parking function is activated, but parking has not yet started, S310 is executed.

[0079] For example, the first parking function can be a parking function that does not require the driver's seat to be in place, or it can be a parking function that requires the driver's seat to be in place. For example, the first parking function can be parking function 2 as shown in Figure 2.

[0080] In some implementations, obtaining the first instruction includes generating the first instruction when the vehicle's first door is opened during the process of the vehicle parking into the target parking space under the first parking function.

[0081] In some other implementations, obtaining the first instruction includes: receiving first information from an electronic device, the first information being used to instruct parking to be paused; and generating the first instruction based on the first information.

[0082] In some other implementations, obtaining the first instruction includes generating the first instruction when a first action is detected on a first body area of ​​the vehicle, or when a first human posture is detected within a first range of the vehicle.

[0083] For example, the first vehicle body area can be the area that can be covered by the field of view (FOV) of the vehicle's camera device. For example, the first vehicle body area can be one or more of the vehicle's hood, the vehicle's rear door, and the area below the vehicle's rear license plate. The first action can be a slapping action or a knocking action, or it can be other actions.

[0084] The first range may include a range at a first distance from the outer contour of the vehicle, wherein the first distance can be any value between 10 meters and 20 meters, or other values; alternatively, the first range may be the range between the outer contour of the vehicle and a circle centered at the origin of the vehicle's associated coordinate system with a second distance as its radius, wherein the second distance can be any value between 10 meters and 20 meters, or other values; or alternatively, the first range may be the sensing range of a sensor used to collect sensing information, wherein the sensing information indicates environmental characteristics outside the vehicle's cabin. In some implementations, the first range may also include the space inside the vehicle's cabin. The first human posture may be a posture indicating a stop, such as crossed hands, interlaced fingers, or a hand gesture where one hand or fingers touch the palm of another hand; alternatively, the first human posture may be other custom-defined human postures.

[0085] S320, according to the first instruction, controls the vehicle to stop and park in the target parking space.

[0086] S330, when the position of the driver's seat changes and / or when a second instruction to continue parking is received, controls the vehicle to continue parking into the target parking space based on the second parking function.

[0087] In some implementations, when the first parking function requires the driver's seat to be in place, and the situation changes from someone being in place to someone not being in place, the second parking function is a parking function that does not require the driver's seat to be in place; or, when the first parking function does not require the driver's seat to be in place, and the situation changes from someone being in place to someone being in place, the second parking function requires the driver's seat to be in place. For example, the first parking function can be parking function 1 as shown in Figure 2.

[0088] In some implementations, when a second instruction to continue parking is received, the first parking function requires the driver's seat to be in place, and the second parking function does not require the driver's seat to be in place; or, if the first parking function does not require the driver's seat to be in place, and someone is present in the seat, the second parking function requires the driver's seat to be in place. In actual implementation, the second instruction also instructs a switch between parking functions.

[0089] In some implementations, the second instruction is generated in response to a first operation on a button used to control continued parking and / or control the switching of parking functions. For example, when the button is a virtual button, the first operation on the button can be a click operation; when the button is a physical key, the first operation on the button can be a press operation.

[0090] In some implementations, the second instruction is received from electronic devices associated with the vehicle.

[0091] For example, a parking function that does not require the driver's seat to be in place is RPA, and a parking function that requires the driver's seat to be in place is APA. Alternatively, parking functions that do not require the driver's seat to be in place and parking functions that require the driver's seat to be in place can also be other automatic parking functions.

[0092] In some implementations, when the second parking function is a parking function that does not require the driver's seat to be in place, controlling the vehicle to continue parking in the target parking space based on the second parking function includes: controlling the vehicle to park in the target parking space based on the second parking function when the distance between the vehicle's occupants and the vehicle is greater than or equal to a distance threshold and the vehicle doors are closed. For example, the distance threshold can be 30 cm to 50 cm, or it can be other distances.

[0093] The parking method provided in this application allows for switching to another parking function to continue parking if a parking pause occurs during the process of controlling a vehicle to park using one parking function. This can be done based on changes in the driver's seat position and / or a received instruction to continue parking. During this process, the user does not need to reselect a target parking space or re-authorize parking, simplifying the parking process and improving efficiency. Furthermore, it enables seamless switching between parking functions, enhancing the user's parking experience.

[0094] To facilitate understanding of the application scenarios of the parking method provided in this application embodiment, the specific implementation of the parking method will be described in detail below with reference to Figures 4 and 5.

[0095] Figure 4 shows another schematic flowchart of the parking method provided in this application embodiment. This method can be executed by the vehicle 100 shown in Figure 1, or by the planning control module 220 shown in Figure 2. This method can be considered as an expanded description of method 300; specifically, the method may include:

[0096] S401, when the vehicle is in APA parking mode, an instruction 1 to pause parking is received.

[0097] The vehicle being in APA parking state can include: the vehicle being in a state of parking towards the target parking space under the APA function; or the vehicle being in a state of preparing to park under the APA function, that is, the vehicle has not yet initiated the process of parking towards the target parking space, and after initiating the process of parking towards the target parking space, the vehicle will park towards the target parking space under the control of the APA function. It should be understood that this APA function can be regarded as an example of the parking function in method 300 that requires the driver's seat to be in place.

[0098] In one implementation, instruction 1 is generated based on information 1 indicating a pause in parking from an electronic device associated with the vehicle. For example, when the electronic device detects that the "pause parking" button in the parking interface has been clicked, it sends information 1 indicating a pause in parking to the vehicle, and the vehicle generates instruction 1 upon receiving information 1.

[0099] In another implementation, instruction 1 is generated based on the vehicle's state. For example, when the vehicle is in APA parking mode and one or more doors of the vehicle are detected to be open, instruction 1 is generated.

[0100] In another implementation, instruction 1 can be generated when a first action is detected on the vehicle body or when a specific human posture is detected.

[0101] It should be understood that instruction 1 can be considered as an example of the first instruction in method 300.

[0102] S402, according to instruction 1, control the vehicle to stop parking.

[0103] For example, controlling a vehicle to pause parking includes: pausing the process of the vehicle parking into the target parking space, or pausing the process of the vehicle preparing to park. In some implementations, controlling a vehicle to pause parking also includes: controlling the vehicle to come to a stop.

[0104] In some implementations, the vehicle has already come to a stop before S402 is executed.

[0105] S403, Determine whether an instruction to continue parking has been received from the electronic device 2.

[0106] For example, instruction 2 may instruct to continue parking via APA, or instruction 2 may instruct to park via RPA.

[0107] Specifically, upon receiving instruction 2 from the electronic device, S404 is executed; otherwise, S406 is executed.

[0108] S404, Determine whether instruction 2 indicates parking via RPA.

[0109] If instruction 2 indicates parking via RPA, execute S405; otherwise, execute S406.

[0110] In other words, when instruction 2 instructs the vehicle to park via RPA, the vehicle will continue to park via RPA control, regardless of whether the driver is in the vehicle or not.

[0111] It should be understood that this RPA function can be considered as an example of the aforementioned parking function that does not require the driver's seat to be in place.

[0112] S405, the vehicle continues to be parked via RPA control.

[0113] In some implementations, the vehicle is controlled by RPA to continue parking in the target parking space, which is the same parking space as the target parking space when parking is controlled by APA.

[0114] In some implementations, the vehicle continues to park using RPA control even when all doors are closed.

[0115] S406, Determine if the driver is in position.

[0116] Specifically, S407 is executed when the driver is in the seat; otherwise, S405 is executed.

[0117] In some implementations, the presence of a driver can be determined based on signals collected by sensors within the vehicle. For example, pressure sensors can be installed under each seat; if the pressure value detected by the sensor under the driver's seat is greater than or equal to a preset pressure threshold, the driver's presence can be confirmed. Another example is the installation of one or more cameras in the cabin; the presence of a user in the driver's seat can be determined based on images captured by these cameras. In practice, other methods can also be used to determine the presence of someone in the driver's seat.

[0118] S407, the vehicle continues to be parked via APA control.

[0119] In some implementations, the vehicle continues to park via APA control even when all vehicle doors are closed.

[0120] In summary, Method 400 involves the following four scenarios:

[0121] 1) When controlling the vehicle to park in the target parking space under the APA function, if instruction 1 is received, the vehicle is controlled to pause parking. Further, if the driver in the driver's seat has not exited the vehicle and closed the door, the vehicle is controlled to continue parking in the target parking space via the APA function after a duration of 1. For example, the aforementioned duration 1 can be one of 5 to 10 seconds, or it can be any other duration.

[0122] 2) When controlling the vehicle to park in the target parking space under the APA function, if instruction 1 is received, the vehicle is controlled to pause parking. Further, if the driver exits the vehicle and closes the door, the vehicle is controlled to continue parking in the target parking space via the RPA function after duration 2. For example, duration 2 can be one of 3 to 5 seconds, or it can be any other duration.

[0123] 3) When controlling the vehicle to park in the target parking space under the APA function, if instruction 1 is received, the vehicle will be controlled to pause parking. Furthermore, if the driver in the driver's seat has not exited the vehicle and closed the door, and activates the RPA function through an electronic device associated with the vehicle (such as a mobile phone), the vehicle will continue to park in the target parking space through the RPA function when it receives an instruction from the electronic device.

[0124] 4) When controlling the vehicle to park in the target parking space under the APA function, if instruction 1 is received, the vehicle will be controlled to pause parking. Furthermore, if the driver gets out of the vehicle and closes the door, and activates the RPA function through an electronic device associated with the vehicle (such as a mobile phone), the vehicle will continue to park in the target parking space through the RPA function when it receives an instruction from the electronic device.

[0125] Understandably, with the parking method provided by method 400, when switching to the RPA function during parking using the APA function, the user does not need to reselect the parking space and / or re-authorize the parking. This allows for seamless switching of parking functions and improves the user's parking experience.

[0126] Figure 5 shows another schematic flowchart of the parking method provided in this application embodiment. This method can be executed by the vehicle 100 shown in Figure 1, or by the planning control module 220 shown in Figure 2. This method can be considered as an expanded description of method 300. Method 500 shown in Figure 5 includes some or all of the steps in S501 to S507. Instruction 3 in method 500 can be considered as an example of the first instruction in method 300. The method for obtaining instruction 3 can refer to the detailed description of obtaining instruction 1 in method 400. The specific implementation of each step in method 500 can refer to the description in method 400, and will not be repeated here. It should be noted that the vehicle being in the RPA parking state can include: the vehicle being in a state of parking towards the target parking space under the RPA function; or the vehicle being in a state of preparing to park under the RPA function, that is, the vehicle has not yet started the process of parking towards the target parking space, and after starting the process of parking towards the target parking space, the vehicle will park towards the target parking space under the control of the RPA function.

[0127] In summary, Method 500 involves the following four scenarios:

[0128] 1) When the driver is in the driver's seat, and the vehicle is being controlled to park in the target parking space using the RPA function, if instruction 3 is received, the vehicle will be stopped from parking. Further, if the driver has not exited the vehicle and closed the door, the vehicle will continue to park in the target parking space via the RPA function after a duration of 3. For example, the aforementioned duration 3 can be between 5 and 10 seconds, or it can be any other duration.

[0129] 2) When the driver is in the driver's seat, and the vehicle is being controlled to park in the target parking space using the RPA function, if instruction 3 is received, the vehicle will pause parking. Further, if the driver exits the vehicle and closes the door, the vehicle will continue parking in the target space via the RPA function after a duration of 4; or, if the driver exits the vehicle and closes the door, and activates the RPA function through an electronic device associated with the vehicle (such as a mobile phone), the vehicle will continue parking in the target space via the RPA function when it receives an instruction from the electronic device. For example, the aforementioned duration 4 can be between 5 and 10 seconds, or it can be any other duration.

[0130] 3) When the driver is not in the driver's seat, if instruction 3 is received when controlling the vehicle to park in the target parking space under the RPA function, the vehicle will pause parking. Furthermore, if the driver gets into the vehicle and closes the door, and activates the RPA function through an electronic device associated with the vehicle (such as a mobile phone), the vehicle will continue to park in the target parking space when it receives an instruction from the electronic device.

[0131] 4) When the driver is not present, and the vehicle is being controlled to park in the target parking space using the RPA function, if instruction 3 is received, the vehicle will be stopped from parking. Further, if the driver enters the vehicle and closes the door, the vehicle will continue parking in the target space via the APA function after a duration of 5. For example, the aforementioned duration 5 can be any duration between 3 and 5 seconds, or any other duration.

[0132] Understandably, with the parking method provided by Method 500, when switching to the APA function during parking using the RPA function, the user does not need to reselect the parking space and / or re-authorize the parking. This allows for seamless switching of parking functions, improving the user's parking experience.

[0133] As described in methods 400 and 500, in the absence of an instruction from the electronic device, the vehicle can determine whether to switch the parking function based on the driver's presence. In some implementations, if no instruction is received from the electronic device and the driver is present, parking can be directly determined via APA; or, if no instruction is received from the electronic device and the driver is not present, parking can be directly determined via RPA. In still other implementations, if no instruction is received from the electronic device, the driver is present, and the doors are closed, the vehicle's display device (such as the central control screen) can display a graphical user interface (GUI) as shown in Figure 6.

[0134] In one example, as shown in Figure 6(a), the parking interface displayed by the device includes an icon indicating the vehicle and an icon 602 indicating the target parking space. The parking interface also includes a control button 601. If button 601 is clicked within a certain time period (e.g., 3 seconds or other durations), the vehicle continues to park in the space indicated by icon 602 according to the original parking function. For example, if the original parking function is APA, the vehicle continues parking under the APA function; or, if the original parking function is RPA, the vehicle continues parking under the RPA function. If no button is clicked within a certain time period, the system switches to another parking function to continue parking in the space indicated by icon 602. For example, if the original parking function is APA, the system switches to the RPA function to continue parking; or, if the original parking function is RPA, the system switches to APA to continue parking.

[0135] In another example, as shown in Figure 6(b), the parking interface displayed by the device includes an icon indicating the vehicle and an icon 602 indicating the target parking space. The parking interface also includes control buttons 603 and 604. Control button 603 controls the vehicle to continue parking using the original parking function, while control button 604 switches the parking function to the new function. If control button 603 is clicked, the vehicle continues parking in the space indicated by icon 602 using the original parking function. For example, if the original parking function is APA, the vehicle continues parking under APA; or if the original parking function is RPA, the vehicle continues parking under RPA. If control button 604 is clicked, the system switches to another parking function to continue parking in the space indicated by icon 602. For example, if the original parking function is APA, then switch to the vehicle control function under RPA to continue parking; or if the original parking function is RPA, then switch to the vehicle control function under APA to continue parking.

[0136] As described in methods 400 and 500, upon receiving an instruction from an electronic device, the vehicle can continue parking in the target parking space according to the parking function indicated by the electronic device. In some implementations, the instruction sent by the electronic device to the vehicle to continue parking may not necessarily indicate the parking function to be used. Furthermore, the vehicle determines whether to switch the parking function based on the driver's presence and the vehicle's status. For this application scenario, taking a mobile phone as an example, Figure 7 shows a schematic diagram of the GUI displayed by the electronic device. As shown in Figure 7, when the mobile phone receives a notification that parking has been paused, it can display a pop-up card 710 as shown in Figure 7(a). This pop-up card 710 includes the text "Parking has been paused" and "Click to view vehicle status" to prompt the user that the parking process has been paused. When the phone's lock screen is unlocked and the pop-up card 710 is clicked, the phone opens the owner application and displays the parking interface shown in Figure 7(b). Specifically, this parking interface displays a real-time view of the vehicle's surroundings. Additionally, the parking interface displays a pop-up 720 with the text 721 "Parking Paused" to indicate the parking status. The pop-up 720 also includes a button 722, which controls the continuation of the automatic parking process. When the button 722 is clicked, the phone sends information to the vehicle to control it to continue parking. Upon receiving this information, the vehicle continues parking based on the driver's presence. For example, if the driver is not present, the RPA function controls the vehicle to continue parking in the target space; conversely, if the driver is present, the APA function controls the vehicle to continue parking in the target space.

[0137] In some implementations, when the vehicle is in the second parking function control for parking (e.g., switching from the first parking function to the second parking function for parking), method 300 further includes: controlling the vehicle's prompting device to display a second prompting message, the second prompting message being used to prompt people inside and outside the vehicle's cabin to continue parking towards the target parking space in the second parking function control.

[0138] In one example, the prompting device can be headlights and / or taillights, and the second prompting information can be light information from the headlights and taillights flashing at frequency 1. This flashing light information at frequency 1 can be hazard warning light information. In another example, the prompting device can be pixelated headlights, and the second prompting information can be light information projected forward of the vehicle through the pixelated headlights. This light information includes text such as "Continuing to park, please be careful" or "New parking mode activated, please wait patiently and be careful." In yet another example, the prompting device can be ambient lighting or a voice prompt device inside the vehicle cabin, and the second prompting information can be light information displayed by the ambient lighting or audio information prompted by the voice prompt device. People inside and outside the vehicle can understand the parking status of the vehicle through the above information, increasing the driver's or passengers' awareness of the automatic parking process.

[0139] In some implementations, method 300 further includes: controlling a vehicle's prompting device to display a first prompt message, the first prompt message being used to prompt persons or vehicles outside the vehicle's cabin that the vehicle is parking without the driver's seat being in place. In some scenarios, the first prompt message and the aforementioned second prompt message can be the same message.

[0140] In one example, the warning device can be a headlight and / or taillight, and the first warning information can be light information from the headlight and taillight flashing at frequency 1, which can be hazard warning light information. In another example, the warning device can be a pixelated headlight, and the first warning information can be light information projected forward of the vehicle by the pixelated headlight as shown in Figure 8(a), which includes the text "Remote parking in progress, please be careful"; or, the first warning information can be light information projected to the side of the vehicle by the pixelated headlight as shown in Figure 8(b), which includes the text "Remote parking in progress, please be careful". In yet another example, the warning device can also be a vehicle window, and the first warning information is light information projected onto the window, for example, the light information can be "Remote parking in progress, please be careful" as shown in Figure 8(c).

[0141] It should be noted that the lighting information shown in Figure 8 is only an illustrative example. In actual implementation, the first prompt information can also be other types of information. Furthermore, in actual implementation, other prompting devices can also be used to indicate to the outside of the cabin that the vehicle is parking without the driver's seat in the parking function.

[0142] 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.

[0143] The methods provided by the embodiments of this application have been described in detail above with reference to Figures 1 to 8. The apparatus provided by the embodiments of this application will now be described in detail below with reference to Figures 9 and 10. 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 referred to the method embodiments above, and for the sake of brevity, will not be repeated here.

[0144] Figure 9 shows a schematic block diagram of a parking 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.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] The apparatuses described above are capable of implementing the corresponding steps performed by the computing platform 150 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 processing units, can be replaced by a processor, used to execute the relevant processing operations in each method embodiment.

[0149] Exemplarily, the acquisition unit 2010 and the processing unit 2020 can be disposed in the vehicle 100 shown in FIG. 1. More specifically, the acquisition unit 2010 and the processing unit 2020 can be disposed in the computing platform 150. Exemplarily, the operations performed by the acquisition unit 2010 and the processing unit 2020 can be performed by a single processor, or by different processors. In specific implementation, the one or more processors can be processors disposed in the vehicle 100 shown in FIG. 1; or, the device 2000 can be a chip disposed in the vehicle 100.

[0150] 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).

[0151] Figure 10 is another schematic block diagram of the parking device provided in an embodiment of this application. The device 2100 shown in Figure 10 may include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, transceiver 2120, and memory 2130 are connected via internal interconnection 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.

[0152] 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.

[0153] 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).

[0154] 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.

[0155] This application also provides an intelligent driving device, which includes the device 2000 or device 2100 in the above embodiments.

[0156] 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.

[0157] 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.

[0158] This application also provides a chip, including circuitry, for performing the methods described in the above embodiments of this application.

[0159] 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.

[0160] 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.

[0161] 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.

[0162] 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.

[0163] 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.

[0164] 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.

[0165] 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.

[0166] 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 method characterized by, include: Obtain a first instruction, which instructs the vehicle to suspend parking via the first parking function; According to the first instruction, the vehicle is controlled to pause its movement toward the target parking space; When the presence of the driver's seat in the vehicle changes, and / or when a second instruction to continue parking is received, the vehicle is controlled to continue parking into the target parking space based on the second parking function.

2. The method of claim 1, wherein, When the first parking function requires the driver's seat to be in place, and the condition changes from someone being in the parking space to no one being in the parking space, the second parking function is a parking function that does not require the driver's seat to be in place; or, When the first parking function is a parking function that does not require the driver's seat to be in place, and the condition of being in place changes from no one being in place to someone being in place, the second parking function is a parking function that requires the driver's seat to be in place.

3. The method of claim 1, wherein, When the second instruction to continue parking is received... The first parking function requires the driver's seat to be in place, and the second parking function does not require the driver's seat to be in place; or, When the first parking function is a parking function that does not require the driver's seat to be in place, and the "in place" condition is that someone is in place, the second parking function is a parking function that requires the driver's seat to be in place.

4. The method of claim 3, wherein, The second instruction also instructs to switch the parking function.

5. The method according to claim 3 or 4, characterized in that, The second instruction is generated in response to a first operation on a button used to control continued parking and / or control switching parking functions.

6. The method according to any one of claims 3 to 5, characterized in that, The second instruction is received from an electronic device associated with the vehicle.

7. The method according to any one of claims 2 to 6, characterized in that, The parking function that does not require the driver's seat to be in place is called Remote Parking Assist (RPA), and the parking function that requires the driver's seat to be in place is called Automatic Parking Assist (APA).

8. The method according to any one of claims 1 to 7, characterized in that, When the second parking function is a parking function that does not require the driver's seat to be in place, the step of controlling the vehicle to continue parking in the target parking space based on the second parking function includes: When the distance between the vehicle's occupants and the vehicle is greater than or equal to a distance threshold, and the vehicle's doors are closed, the vehicle is controlled to park in the target parking space based on the second parking function.

9. The method of claim 8, wherein, The method further includes: The vehicle's prompting device displays a first prompt message, which is used to prompt people outside the vehicle's cabin that the vehicle is parking under the parking function that does not require the driver's seat to be in place.

10. The method according to any one of claims 1 to 9, characterized in that, The acquisition of the first instruction includes: The first instruction is generated when the first door of the vehicle is opened during the process of the vehicle parking into the target parking space under the first parking function.

11. The method according to any one of claims 1 to 9, characterized in that, The acquisition of the first instruction includes: Receive first information from an electronic device associated with the vehicle, the first information being used to instruct the vehicle to pause parking; The first instruction is generated based on the first information.

12. The method according to any one of claims 1 to 9, characterized in that, The acquisition of the first instruction includes: The first instruction is generated when a first action is detected targeting a first body area of ​​the vehicle, or when a first human posture is detected within a first range of the vehicle.

13. A parking device, characterized in that include: The acquisition unit is used to acquire a first instruction, which instructs the vehicle to suspend parking using the first parking function; The processing unit is configured to control the vehicle to pause its parking in the target parking space according to the first instruction; When the presence of the driver's seat in the vehicle changes, and / or when the acquisition unit receives a second instruction to continue parking, the vehicle is controlled to continue parking into the target parking space based on the second parking function.

14. The apparatus of claim 13, wherein, When the first parking function requires the driver's seat to be in place, and the condition changes from someone being in the parking space to no one being in the parking space, the second parking function is a parking function that does not require the driver's seat to be in place; or, When the first parking function is a parking function that does not require the driver's seat to be in place, and the condition of being in place changes from no one being in place to someone being in place, the second parking function is a parking function that requires the driver's seat to be in place.

15. The apparatus of claim 13, wherein, When the acquisition unit receives the second instruction to continue parking... The first parking function requires the driver's seat to be in place, and the second parking function does not require the driver's seat to be in place; or, When the first parking function is a parking function that does not require the driver's seat to be in place, and the "in place" condition is that someone is in place, the second parking function is a parking function that requires the driver's seat to be in place.

16. The apparatus of claim 15, wherein, The second instruction also instructs to switch the parking function.

17. The apparatus of claim 15 or 16, wherein, The second instruction is generated in response to a first operation on a button used to control continued parking and / or control switching parking functions.

18. The apparatus of any one of claims 15-17, wherein, The second instruction is received from an electronic device associated with the vehicle.

19. The apparatus of any one of claims 14-18, wherein, The parking function that does not require the driver's seat to be in place is called Remote Parking Assist (RPA), and the parking function that requires the driver's seat to be in place is called Automatic Parking Assist (APA).

20. The apparatus of any one of claims 13-19, wherein, When the second parking function is a parking function that does not require the driver's seat to be in place, the processing unit is used to: When the distance between the vehicle's occupants and the vehicle is greater than or equal to a distance threshold, and the vehicle's doors are closed, the vehicle is controlled to park in the target parking space based on the second parking function.

21. The apparatus of claim 20, wherein, The processing unit is also used for: The vehicle's prompting device displays a first prompt message, which is used to prompt people outside the vehicle's cabin that the vehicle is parking under the parking function that does not require the driver's seat to be in place.

22. The apparatus of any one of claims 1-9, wherein, The acquisition unit is used for: The first instruction is generated when the first door of the vehicle is opened during the process of the vehicle parking into the target parking space under the first parking function.

23. The apparatus of any one of claims 1-9, wherein, The acquisition unit is used for: Receive first information from an electronic device associated with the vehicle, the first information being used to instruct the vehicle to pause parking; The first instruction is generated based on the first information.

24. The apparatus of any one of claims 1-9, wherein, The acquisition unit is used for: The first instruction is generated when a first action is detected targeting a first body area of ​​the vehicle, or when a first human posture is detected within a first range of the vehicle.

25. A parking device, characterized by include: A processor for executing a computer program stored in memory to cause the apparatus to perform the method as described in any one of claims 1 to 12.

26. 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 12.

27. A chip, characterized by The chip includes circuitry for performing the method as described in any one of claims 1 to 12.

28. A computer program product, characterised 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 12.

29. A vehicle characterized by Includes the apparatus as described in any one of claims 13 to 25, or the computer-readable storage medium as described in claim 26, or the chip as described in claim 27, or the vehicle is equipped with the computer program product as described in claim 28.

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