Parking method and apparatus, and vehicle

Abstract

A parking method and apparatus, and a vehicle. The method comprises: acquiring first information, wherein the first information indicates that, when a vehicle is parked in a target parking space, the distance between a first parking space boundary of the target parking space and the outer contour of the vehicle is less than the distance between a second parking space boundary of the target parking space and the outer contour of the vehicle, and the first parking space boundary and the second parking space boundary are long boundaries in the target parking space; and on the basis of the first information, controlling a first display apparatus to display a first icon of the target parking space, wherein the first icon comprises a visually enhanced first boundary, and the visually enhanced first boundary indicates that the vehicle approaches the first parking space boundary when the vehicle is parked in the target parking space. The method can be applied to the field of intelligent driving associated with smart vehicles such as electric vehicles and new energy vehicles. An icon displayed on a parking interface indicates to a user a parking space boundary that a vehicle approaches after being parked in a target parking space, thereby reducing the probability that the user incorrectly determines or selects a parking space boundary that the vehicle needs to approach when the user has confusion regarding left and right orientation.

Description

Parking methods, devices and vehicles

[0001] This application claims priority to Chinese Patent Application No. 202411725537.4, filed on November 26, 2024, entitled "Parking Method, Apparatus and Vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of intelligent driving, and more specifically, to a parking method, apparatus, and vehicle. Background Technology

[0003] With the development of intelligent driving functions in vehicles and the continuous improvement of intelligent driving levels, users are using these functions more and more frequently during vehicle use. Currently, various automatic parking (AP) functions have been developed to assist or help users park their vehicles. Automatic parking refers to the vehicle automatically parking itself into a parking space; that is, the intelligent driving system can help the user park the vehicle semi-automatically or fully automatically. Automatic parking can include automatic parking assist (APA), remote parking assist (RPA), and automatic valet parking (AVP), among others. Summary of the Invention

[0004] This application provides a parking method, device, and vehicle. By displaying an icon of the target parking space on the parking interface, the user can be indicated to the boundary of the parking space that the vehicle will approach after parking in the target parking space. This reduces the probability of the user incorrectly determining or selecting the boundary of the parking space that the vehicle needs to approach when the user's perception of left and right is unclear, thereby improving parking efficiency and enhancing the user's experience during the parking process.

[0005] 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. The method can also be executed by an electronic device associated with the vehicle (such as a mobile phone), for example, by the phone's processor, chip, or circuitry.

[0006] The method includes: acquiring first information, the first information indicating that when a vehicle is parked in a target parking space, the distance between the first boundary of the target parking space and the outer contour of the vehicle is less than the distance between the second boundary of the target parking space and the outer contour of the vehicle; wherein the first boundary and the second boundary are the longer boundary of the target parking space; and controlling a first display device to display a first icon based on the first information, the first icon being an icon of the target parking space, and the first icon including an enhanced first boundary, the enhanced first boundary indicating that the vehicle is close to the first boundary when parked in the target parking space.

[0007] In some implementations, when the method is executed by an electronic device or its components, the first information may be sent by the vehicle to the electronic device via a cloud server.

[0008] In the above technical solution, by enhancing the first boundary of the display, the user can be indicated to the user the boundary of the parking space that the vehicle will approach after parking in the target parking space. This allows the user to determine the side of the target parking space boundary that the vehicle will approach after parking in the target parking space based on the vehicle's parking posture, reducing the probability of the user mistakenly selecting the parking space boundary that the vehicle needs to approach when the user's left and right perception is unclear. This helps to improve parking efficiency and the user's parking experience.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, the first information includes information indicating the target parking posture and information indicating the target parking posture; wherein, the target parking posture indicates the posture of the vehicle when parking in the target parking space; the target parking posture indicates the positional relationship between the vehicle's outline and the target parking space when the vehicle is parked in the target parking space; and the first display device is the vehicle's display device.

[0010] In some implementations, when the method is executed by a vehicle or its components, the first information includes information indicating the target parking posture and information indicating the target stopping posture. For example, the first information may be generated in response to a user's selection or adjustment of the parking posture and / or stopping posture, or the first information may be generated based on information such as environmental information around the vehicle and the position of the target parking space relative to the vehicle.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: obtaining parking intention information, wherein the parking intention information indicates that the vehicle's preferred target parking posture is at least one of the following: a parking posture away from obstacles around the target parking space, or a parking posture that facilitates the opening of the door on the driver's side; and determining the parking space boundary of the target parking space that the vehicle is close to when parking in the target parking space based on the parking intention information and the target parking posture.

[0012] In some implementations, the target parking pose can be determined based on the relative position between the vehicle and the target parking space; or, the target parking pose can be preset by the parking system, for example, the parking system can preset head-in or tail-in parking.

[0013] In the aforementioned technical solution, the vehicle's proximity to the parking space boundary when parked in the target parking space can be determined based on parking intention information and the target parking posture, which helps improve the vehicle's intelligence and human-like characteristics. When the vehicle's target parking posture is away from obstacles, the probability of collisions between the vehicle and obstacles can be reduced, improving safety during parking. When the vehicle's target parking posture is one that facilitates opening the driver's side door, it facilitates the driver's exit after parking and allows the user to easily control the vehicle to leave the target parking space, improving the driver's operational convenience. For example, when the parking space is narrow, if the target parking posture is one that facilitates opening the driver's side door, the user can get into the vehicle without using remote parking to park it out of the space.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the parking intent information is determined in response to the user's settings regarding the vehicle.

[0015] The above technical solution provides users with a way to set their preferred target parking position, which can meet users' personalized needs and further improve their parking experience.

[0016] In some implementations, parking intent information can also be pre-set by the parking system.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, the first icon further indicates that the target parking posture is a first parking posture, which is either head-in or tail-in parking. The method further includes: in response to a first instruction indicating adjustment of the target parking posture, determining to change the target parking posture from the first parking posture to a second parking posture, which is either head-in or tail-in parking, and the second parking posture is different from the first parking posture; controlling a first display device to display a second icon, which is an icon of the target parking space, the second icon including an enhanced second boundary, the enhanced second boundary indicating that the vehicle is parked in the target parking space and is close to the second parking space boundary when parked in the target parking space.

[0018] In the above technical solution, after adjusting the target parking position, the boundary of the parking space the vehicle approaches is adjusted accordingly, keeping the fixed side of the vehicle close to the boundary of the target parking space. For example, when the target parking position is head-in parking, the left side of the vehicle is close to the boundary of the target parking space when it is parked. After the target parking position is adjusted to tail-in parking, the left side of the vehicle is still close to the boundary of the target parking space when it is parked. At this time, the enhanced display indicates the second boundary of the parking space boundary that the left side of the vehicle is close to, which allows the user to intuitively understand the change in the boundary of the parking space that the vehicle is close to when it is parked, thereby enhancing the user's perception of the parking intention and helping to improve the user's parking experience.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, the first icon further indicates that the target parking posture is a first parking posture, which is either head-in or tail-in parking. The method further includes: in response to a second instruction indicating adjustment of the target parking posture, determining to change the target parking posture from the first parking posture to a second parking posture, which is either head-in or tail-in parking, and the second parking posture is different from the first parking posture; controlling a first display device to display a third icon, which is an icon of the target parking space, and the third icon includes a first boundary for enhanced display.

[0020] In the above technical solution, after adjusting the target parking posture, the boundary of the parking space that the vehicle is close to remains unchanged. For example, when the target parking posture is head-in parking, the vehicle is close to the first boundary of the target parking space when it is parked in the target parking space. After the target parking posture is adjusted to tail-in parking, the vehicle is still close to the first boundary of the target parking space when it is parked in the target parking space. At this time, the enhanced display indicates the first boundary of the first parking space, which allows the user to intuitively know the boundary of the parking space that the vehicle is close to when it is parked, thereby enhancing the user's perception of the parking intention and helping to improve the user's parking experience.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, the first icon is determined when the target parking posture is a first parking posture, the first parking posture indicating that when the vehicle is parked in the target parking space, the distance between the vehicle's outline and the boundary of the first parking space is less than the distance between the vehicle's outline and the boundary of the second parking space; the method further includes: determining to change the target parking posture to a second parking posture based on the second parking posture and the boundary of the first parking space, the second parking posture indicating that when the vehicle is parked in the target parking space, it is close to the boundary of the first parking space; wherein, the third icon also indicates the second parking posture.

[0022] In the above technical solution, after adjusting the target parking posture, the vehicle can automatically adjust the target parking posture while the boundary of the parking space it approaches remains unchanged, which helps to improve the intelligence of the vehicle.

[0023] In conjunction with the first aspect, in some implementations of the first aspect, the first icon is determined when the target parking posture is a first parking posture, the first parking posture indicating that when the vehicle is parked in the target parking space, the distance between the vehicle's outline and the boundary of the first parking space is less than the distance between the vehicle's outline and the boundary of the second parking space; the method further includes: in response to a second instruction indicating adjustment of the target parking posture, determining to change the target parking posture to a third parking posture; and according to the third parking posture, controlling a first display device to display a fourth icon, the fourth icon including an enhanced third boundary, the enhanced third boundary indicating that the vehicle is close to the boundary of the second parking space when parked in the target parking space.

[0024] With the target parking position unchanged, adjusting the target parking position will change the boundary of the parking space the vehicle will approach when parking in the target parking space. This technical solution directly indicates the boundary of the parking space the vehicle will approach after parking to the user via an icon of the target parking space, eliminating the need for the user to manually determine the boundary and reducing the likelihood of incorrectly selecting the appropriate parking space boundary when the user lacks left-right awareness.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: planning a parking path based on the target parking position and the target parking position; controlling the vehicle to park in the target parking space along the parking path and park in the target parking space with the target parking position.

[0026] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: during the process of controlling the vehicle to park in the target parking space, controlling the first display device to display a first interface and / or a second interface, the first interface including at least one control for controlling parking, and the second interface including real-time video during the parking process; the first interface including an icon of the target parking space, the icon of the target parking space including an enhanced icon boundary, the enhanced icon boundary indicating the parking space boundary that the vehicle approaches when parking in the target parking space in the target parking position.

[0027] In the above technical solution, during the parking process, the parking control interface continuously displays an enhanced view of the parking space boundary to enhance the user's perception of the parking space boundary that the vehicle is approaching after parking.

[0028] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: when the second interface includes pixels of the first boundary of the target parking space, controlling the second interface to display a first effect, the first effect indicating the position of the parking space boundary that the vehicle is close to when parking in the target parking space in the real-time image.

[0029] In the above technical solution, during the parking process, the boundary of the parking space that the vehicle is approaching is indicated in the real-time image through corresponding effects, which helps users to more intuitively determine the boundary of the parking space that the vehicle is approaching when parking.

[0030] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: acquiring environmental perception information and / or in-situ detection information, wherein the environmental perception information indicates the position of obstacles around the target parking space and the in-situ detection information indicates the presence of occupants inside the vehicle; and determining a first parking posture based on the environmental perception information and / or in-situ detection information.

[0031] In some implementations, determining the first parking pose based on environmental perception information and / or in-situ detection information also includes determining the first parking pose based on environmental perception information and / or in-situ detection information, as well as parking intention information.

[0032] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: determining a first parking position based on the user's historical parking information; wherein the historical parking information indicates the user's preferred parking position.

[0033] Secondly, a parking device is provided, comprising an acquisition unit and a processing unit, wherein the acquisition unit is configured to: acquire first information, the first information indicating that when a vehicle is parked in a target parking space, the distance between the first boundary of the target parking space and the outer contour of the vehicle is less than the distance between the second boundary of the target parking space and the outer contour of the vehicle; wherein the first boundary and the second boundary are the longer boundary of the target parking space; the processing unit is configured to: control a first display device to display a first icon based on the first information, the first icon being an icon of the target parking space, and the first icon including an enhanced first boundary, the enhanced first boundary indicating that the vehicle is close to the first boundary when parked in the target parking space.

[0034] In conjunction with the second aspect, in some implementations of the second aspect, the first information includes information indicating the target parking posture and information indicating the target parking posture; wherein, the target parking posture indicates the posture of the vehicle when parking in the target parking space; the target parking posture indicates the positional relationship between the vehicle's outline and the target parking space when the vehicle is parked in the target parking space; and the first display device is the vehicle's display device.

[0035] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is further configured to: acquire parking intention information, wherein the parking intention information indicates that the vehicle's preferred target parking posture is at least one of the following: a parking posture away from obstacles around the target parking space, or a parking posture that facilitates the opening of the door on the driver's side; the processing unit is further configured to: determine the parking space boundary of the target parking space that the vehicle is close to when parking in the target parking space based on the parking intention information and the target parking posture.

[0036] In conjunction with the second aspect, in some implementations of the second aspect, the parking intent information is determined in response to the user's settings for the vehicle.

[0037] In conjunction with the second aspect, in some implementations of the second aspect, the first icon further indicates that the target parking posture is a first parking posture, which is either head-in or tail-in parking. The processing unit is further configured to: in response to a first instruction indicating adjustment of the target parking posture, determine to change the target parking posture from the first parking posture to a second parking posture, which is either head-in or tail-in parking, and the second parking posture is different from the first parking posture; control the first display device to display a second icon, which is an icon of the target parking space, the second icon including an enhanced second boundary, the enhanced second boundary indicating that the vehicle is parked in the target parking space and is close to the second parking space boundary when parked in the target parking space.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, the first icon further indicates that the target parking posture is a first parking posture, which is either head-in or tail-in parking. The processing unit is further configured to: in response to a second instruction indicating adjustment of the target parking posture, determine that the target parking posture is changed from the first parking posture to a second parking posture, which is either head-in or tail-in parking, and the second parking posture is different from the first parking posture; control the first display device to display a third icon, which is an icon of the target parking space, and the third icon includes a first boundary for enhanced display.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, the first icon is determined when the target parking posture is the first parking posture, which indicates that when the vehicle is parked in the target parking space, the distance between the vehicle's outline and the boundary of the first parking space is less than the distance between the vehicle's outline and the boundary of the second parking space; the processing unit is further configured to: determine, based on the second parking posture and the boundary of the first parking space, to change the target parking posture to the second parking posture, which indicates that when the vehicle is parked in the target parking space, it is close to the boundary of the first parking space; wherein, the third icon also indicates the second parking posture.

[0040] In conjunction with the second aspect, in some implementations of the second aspect, the first icon is determined when the target parking posture is a first parking posture, the first parking posture indicating that when the vehicle is parked in the target parking space, the distance between the vehicle's outline and the boundary of the first parking space is less than the distance between the vehicle's outline and the boundary of the second parking space; the processing unit is further configured to: in response to a second instruction indicating adjustment of the target parking posture, determine to change the target parking posture to a third parking posture; and according to the third parking posture, control the first display device to display a fourth icon, the fourth icon including an enhanced third boundary, the enhanced third boundary indicating that the vehicle is close to the boundary of the second parking space when parked in the target parking space.

[0041] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is also used to: plan a parking path based on the target parking pose and the target parking pose; control the vehicle to park in the target parking space along the parking path, and park in the target parking space with the target parking pose.

[0042] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: during the process of controlling the vehicle to park in the target parking space, control the first display device to display a first interface and / or a second interface, the first interface including at least one control for controlling parking, and the second interface including real-time images during the parking process; the first interface includes an icon of the target parking space, the icon of the target parking space including an enhanced icon boundary, the enhanced icon boundary indicating the parking space boundary that the vehicle approaches when parking in the target parking space in the target parking position.

[0043] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: when the second interface includes pixels of the first boundary of the target parking space, control the second interface to display a first effect, the first effect indicating the position of the parking space boundary that the vehicle is close to when parking in the target parking space in the real-time image.

[0044] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is further configured to: acquire environmental perception information and / or in-situ detection information, wherein the environmental perception information indicates the position of obstacles around the target parking space, and the in-situ detection information indicates the in-situ status of the occupants inside the vehicle; the processing unit is further configured to: determine a first parking posture based on the environmental perception information and / or the in-situ detection information.

[0045] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: determine a first parking position based on the user's historical parking information; wherein the historical parking information indicates the user's preferred parking position.

[0046] Thirdly, a parking 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.

[0047] In conjunction with the third aspect, in some implementations of the third aspect, the device also includes a memory.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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

[0055] Figure 1 is a functional schematic block diagram of the vehicle provided in an embodiment of this application;

[0056] Figure 2 is a schematic block diagram of the parking system architecture provided in an embodiment of this application;

[0057] Figure 3 is a schematic flowchart of the parking method provided in an embodiment of this application;

[0058] Figure 4 is another schematic flowchart of the parking method provided in the embodiments of this application;

[0059] Figure 5 is a schematic diagram of the application scenarios involved in the embodiments of this application;

[0060] Figure 6 is a schematic diagram of the GUI involved in the embodiments of this application;

[0061] Figure 7 is another schematic diagram of the GUI involved in the embodiments of this application;

[0062] Figure 8 is another schematic diagram of the GUI involved in the embodiments of this application;

[0063] Figure 9 is another schematic diagram of the GUI involved in the embodiments of this application;

[0064] Figure 10 is another schematic diagram of the GUI involved in the embodiments of this application;

[0065] Figure 11 is another schematic flowchart of the parking method provided in the embodiments of this application;

[0066] Figure 12 is a schematic block diagram of a parking device provided in an embodiment of this application;

[0067] Figure 13 is another schematic block diagram of the parking device provided in the embodiments of this application. Detailed Implementation

[0068] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0069] 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. Furthermore, the sensing system 120 may also include one or more pressure sensors, acoustic sensors, etc., for monitoring whether there is a user inside the cabin and the user's location.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] In this embodiment, the computing platform 150 can determine the parking position of the vehicle 100 within the target parking space based on the position of obstacles around the target parking space and / or the presence of occupants in the vehicle 100's cabin. Furthermore, the computing platform 150 can control the display device 130 to display a parking space icon indicating the parking position on the parking interface. For example, when the parking position is close to only one boundary of the target parking space, the parking space icon displayed on the display device 130 indicates the boundary of the parking space the vehicle will be close to after parking. In addition, the computing platform 150 can also adjust the parking position of the vehicle 100 within the target parking space in response to user operations and control the display device 130 to switch the display of the parking space icon indicating the updated parking position.

[0075] The roles of the sensing system 120, display device 130, and computing platform 150 in this application are described in detail below with reference to Figure 2. The system 200 includes a sensing module 210, a human-computer interaction module 220, a display module 230, and a control module 240. Specifically:

[0076] The perception module 210 may include one or more camera devices or one or more radar sensors from the perception system 120 shown in Figure 1, for collecting environmental information about the area where the vehicle is located, such as parking line information and obstacle information. 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 human-machine interaction module 220 and the planning and control module 240). Furthermore, the perception module 210 can send the information it collects and / or determines to the planning and control module 240.

[0077] 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 jack, 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, and the display module 230 may display a parking interface. The human-machine interface module 220 may receive user commands (including voice commands, touch screen commands, etc.), and then control the changes of the interface displayed by the display module 230 according to the commands.

[0078] The planning and control module 240 may include one or more processors in the computing platform 150 shown in FIG1, for determining the target parking posture of the vehicle in the target parking space based on environmental information obtained from the perception module 210 and / or the occupant information in the cabin, and then planning a parking path based on the target parking posture. When the target parking posture is not a centered parking posture, the planning and control module 240 may control the display device to display a parking space icon corresponding to the target parking posture, which indicates the side to which the target parking posture is biased.

[0079] In addition, the display module 230 can display multiple parking positions supported by the target parking space. The human-machine interaction module 220 can determine the parking position as the target parking position based on the instruction received from the user to select a parking position, and send the information of the parking position to the planning and control module 240 so that the planning and control module 240 can plan the parking path based on the target parking position.

[0080] It should be understood that the above modules are merely examples, 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. As another example, the planning and control module 240 can be further subdivided into a path planning and control module and a display control module. The path planning and control module is used to plan routes for the vehicle and control the vehicle to travel along the planned routes, while the display control module is used to control the content displayed by the display module 230.

[0081] Furthermore, the following embodiments use a left-hand drive vehicle (i.e., the driver is located on the left side of the vehicle) as an example for illustration. In actual implementation, the vehicle can also be a right-hand drive vehicle (i.e., the driver is located on the right side of the vehicle).

[0082] The system involved in the embodiments of this application has been described above. The method performed based on the system is described in detail below.

[0083] Figure 3 shows a schematic flowchart of a 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 parking control module 240 shown in Figure 2. The method includes:

[0084] S301, Obtain environmental perception information that indicates the location of obstacles around the target parking space.

[0085] In some implementations, the target parking space is determined before or after executing S301. In this application, the target parking space can be understood as a parking space already selected for vehicle parking under the automatic parking function. For example, vehicle 100 or the control module 240 automatically selects the target parking space based on relevant parking lot information, or vehicle 100 or the control module 240 determines the target parking space in response to the user's selection.

[0086] For example, the environmental perception information also indicates the type of obstacles around the target parking space, such as vehicles, walls, pillars, etc.

[0087] S302, Obtain vehicle presence detection information, which indicates the position of at least one occupant in the vehicle.

[0088] For example, the presence and location of people in different areas of a vehicle can be determined based on signals collected by sensors within the vehicle. For instance, pressure sensors are installed under each seat; if the pressure value measured by a sensor under a particular seat is greater than or equal to a preset pressure threshold, it can be determined that a user is present at that seat. Alternatively, one or more cameras can be installed in the cabin, and the presence of users in different areas of the vehicle can be determined based on images captured by these cameras. In practical implementation, other methods can also be used to determine whether users are present in one or more areas of the vehicle.

[0089] S303, based on environmental perception information and / or in-situ detection information, determine the target parking posture of the vehicle in the target parking space as parking posture 1, and control the display device to display the icon of style 1 to indicate parking posture 1.

[0090] More specifically, the target's parking pose can be determined based on environmental perception information and / or in-situ detection information, as well as the target's parking pose.

[0091] In some implementations, without considering the presence of occupants, when obstacles exist around the target parking space, the vehicle's position away from the obstacle can be determined as parking position 1; and / or the position that facilitates opening the driver's side door can be determined as parking position 1. For example, when the priority of the vehicle being away from the obstacle is higher, the target parking position is determined as the position away from the side with the obstacle. In this case, the driver's side of the vehicle may be closer to the parking space boundary, making it inconvenient to open the driver's side door when there is an obstacle next to the target parking space. Conversely, when the priority of facilitating opening the driver's side door is higher, the target parking position is determined as the position of the driver's side away from the parking space boundary. In this case, the passenger side of the vehicle may be closer to the obstacle. In actual implementation, whether the priority of the vehicle being away from the obstacle or the priority of facilitating opening the driver's side door is higher can be preset by the parking system or determined according to the user's intention. The determination based on user intent can be understood as: determining it in response to the user's settings; or, determining it based on the user's historical vehicle usage information. For example, based on the user's parking data over a past period, if it is determined that the user prefers a parking position where the boundary of the parking space is farther from the driver's seat, then the priority for parking positions that facilitate the opening of the driver's side door is higher. Similarly, based on the user's parking data over a past period, if it is determined that the user prefers a parking position farther from obstacles, then the priority for parking positions that move the vehicle away from obstacles is higher. For example, the past period can be a time segment preceding the current moment, such as a period between the past 7 days and the past 30 days, or it can be any other time segment.

[0092] S304, confirm whether berthing has been activated.

[0093] For example, when an instruction to begin parking is received, it is determined that the start of parking has been activated.

[0094] In some implementations, a vehicle can park in a target parking space while the occupants are inside the vehicle; alternatively, it can park in a target parking space when the driver is not present. If the vehicle is parking in a target parking space while the occupants are inside, the activation of parking can be confirmed when a "start parking" voice command is detected in the cabin; alternatively, it can be confirmed when a button used to control parking is clicked. If the vehicle is parking in a target parking space when the driver is not present, the activation of parking can be confirmed when the driver exits the vehicle and closes the door.

[0095] Specifically, if berthing has been activated, execute S307; otherwise, execute S305.

[0096] S305, User action 1 detected.

[0097] For example, operation 1 can be an operation for adjusting the parking posture, or it can be an operation for adjusting the parking position posture. The parking posture refers to the position of the vehicle parked in the target parking space, and can include a centered posture, a left-hand posture, a right-hand posture, etc. The parking position posture is the posture in which the vehicle parks itself into the target parking space, which can be the posture of the front of the vehicle parking in the target parking space (hereinafter referred to as "front entry"), or the posture of the rear of the vehicle parking in the target parking space (hereinafter referred to as "rear entry").

[0098] For example, a left-leaning pose means that the distance between the left side of the vehicle and the boundary of its nearest target parking space is less than the distance between the right side of the vehicle and the boundary of its nearest target parking space; a right-leaning pose means that the distance between the right side of the vehicle and the boundary of its nearest target parking space is less than the distance between the left side of the vehicle and the boundary of its nearest target parking space; a centering pose means that the distance between the left side of the vehicle and the boundary of the target parking space is equal to the distance between the right side of the vehicle and the boundary of the target parking space. The left and right sides of the vehicle can be relative. For example, the left and right sides of the vehicle can be defined based on a vehicle coordinate system. The origin O of the vehicle coordinate system can be located at the projection point of the rear axle center of the vehicle onto the ground. The positive directions of the X-axis and Z-axis are the direction of the vehicle's front and the direction perpendicular to the vehicle's plane, respectively. The side of the vehicle located in the positive direction of the Y-axis can be considered the left side of the vehicle, and the side located in the negative direction of the Y-axis can be considered the right side of the vehicle. Alternatively, the left and right sides of the vehicle can be defined based on the orientation of the target parking space. For example, if the long side of the target parking space is parallel to the meridian, then the side of the vehicle closer to the western long side of the target parking space is the left side, and the side closer to the eastern long side of the target parking space is the right side. In practice, other methods can also be used to define the left and right sides of the vehicle.

[0099] Specifically, if user action 1 is detected, S306 is executed; otherwise, S304 is executed.

[0100] S306, the target parking posture is determined to be changed to parking posture 2.

[0101] In some implementations, if operation 1 is an operation to adjust the target parking posture, and the parking posture of the vehicle away from the obstacle has a higher priority when the vehicle is parked in the target parking space, then the parking space boundary that the vehicle approaches when parking in the target parking space with parking posture 1 is the same as the parking space boundary that the vehicle approaches when parking in the target parking space with parking posture 2.

[0102] In some other implementations, if operation 1 is to adjust the target parking position, and when the vehicle is parked in the target parking space, the parking position that facilitates the opening of the driver's side door has a higher priority, then when the vehicle is parked in the target parking space with parking position 1, the vehicle boundary on the side closest to the parking space boundary is the same as when the vehicle is parked in the target parking space with parking position 2.

[0103] S307, park the vehicle in the target parking space with the target parking posture, so that the vehicle is parked in the target parking space with the target posture.

[0104] To facilitate understanding of method 300, the following description will take a perpendicular parking space as an example and elaborate on method 300 in conjunction with Figures 4 to 10.

[0105] Figure 4 shows another schematic flowchart of the parking method provided in the embodiments of this application. This method can be regarded as an expanded description of S303. This method can be regarded as a specific implementation of determining the target parking pose when the priority of the vehicle being away from the obstacle is higher. The method includes:

[0106] S401, Identify the target parking space.

[0107] For example, the method for determining the target parking space can be referred to the description in S301, and will not be repeated here.

[0108] S402, determine if there is anyone in the front passenger seat or the right rear seat area.

[0109] For example, the presence detection information determines whether there is a person in the front passenger seat or the right rear seat area. If there is no person in either the front passenger seat or the right rear seat area, S403 is executed; otherwise, S403' is executed.

[0110] S403', confirm that parking position 1 is the center position.

[0111] S403, determine whether there is a pillar or empty space on the long side of the target parking space.

[0112] Understandably, a target parking space can be considered as consisting of two long sides and two short sides. After a vehicle parks in the target parking space, the two long sides can be located on the left and right sides of the vehicle, respectively, and the two short sides can be located on the front and rear sides of the vehicle, respectively.

[0113] For example, the presence of a pillar or empty space on the long side of the target parking space is determined based on environmental perception information. If there are no pillars or empty spaces on either of the two long sides of the target parking space, S404 is executed; otherwise, S404' is executed.

[0114] In some implementations, open space refers to areas that have not been marked as parking spaces; areas with parking lines but no vehicles parked are not considered open space.

[0115] S404', Determine the parking position 1 as a position close to a pillar or open space.

[0116] In one example, if there is a pillar or empty space on one long side of the target parking space, but not on the other long side, parking pose 1 is the parking pose closer to the side with the pillar or empty space. For example, if the long side with the pillar or empty space is located on the left side of the target parking space, then parking pose 1 is the parking pose closer to the left side of the target parking space.

[0117] In another example, when there is a pillar and an empty space on the two long sides of the target parking space, parking pose 1 is the parking pose closer to the side with the pillar. For example, if the long side with the pillar is located on the right side of the target parking space and the long side with the empty space is located on the left side of the target parking space, then parking pose 1 is the parking pose closer to the right side of the target parking space.

[0118] In another example, when there are pillars on both long sides of the target parking space, parking pose 1 can be a pose where the car is centered between the two pillars. When there is empty space on both long sides of the target parking space, parking pose 1 can be a pose where the car is centered within the target parking space.

[0119] S404, Determine if there is a wall on the long side of the target parking space.

[0120] For example, it is determined whether there is a wall on the long side of the target parking space based on environmental perception information. If there is no wall on either of the two long sides of the target parking space, S405 is executed; otherwise, S405' is executed.

[0121] S405', Determine the parking position 1 as the position away from the wall.

[0122] In one example, if there is a wall on one long side of the target parking space and no wall on the other long side, parking pose 1 is the parking pose away from the side with the wall. For example, if the long side with the wall is located on the left side of the target parking space, then parking pose 1 is the parking pose away from the left side of the target parking space.

[0123] In another example, when there are walls on both long sides of the target parking space, parking pose 1 can be a pose of parking in the center within the target parking space; or, parking pose 1 can also be a pose of parking in the center in front of the two walls.

[0124] S405 indicates that a vehicle is parked along one of the long sides of the target parking space.

[0125] For example, based on environmental perception information, it is determined whether there is a vehicle parked in the adjacent parking space on the long side of the target parking space. If there is a vehicle parked in the adjacent parking space on one of the long sides of the target parking space, S406' is executed; otherwise, S406' is executed.

[0126] In some implementations, when vehicles are parked in adjacent parking spaces on both long sides of the target parking space, parking pose 1 can be determined based on the positional relationship between the vehicles on both sides and the target parking space. For example, if the distance between the outer contour of the vehicles on both long sides of the target parking space and the boundary of the target parking space is greater than or equal to distance 1, parking pose 1 can be determined as a centered parking pose within the target parking space. As another example, if the distance between the outer contour of a vehicle parked on one long side of the target parking space and the boundary of the target parking space is less than distance 1, while the distance between the outer contour of a vehicle parked on the other long side and the boundary of the target parking space is greater than or equal to distance 1, parking pose 1 can be determined as a parking pose away from the long side of the target parking space that is closer to the vehicle.

[0127] S406, confirm parking position 1 as centered position.

[0128] For example, the centering pose can be a pose in which the car is parked in the center within the target parking space.

[0129] S406', Determine the parking position 1 as the position away from the side where vehicles are parked.

[0130] In some implementations, the left or right side of the target parking space in this application embodiment can be the left or right side relative to the vehicle. For example, after the vehicle is parked in the target parking space, the left side of the vehicle is the left side of the target parking space, and the right side of the vehicle is the right side of the target parking space. Alternatively, the left and right sides of the target parking space can also be determined based on the orientation of the target parking space. For example, if the long side of the target parking space is parallel to a meridian, then the western long side of the target parking space is the left side of the target parking space, and the eastern long side of the target parking space is the left side of the target parking space. In actual implementation, the left or right side of the target parking space can also be defined in other ways.

[0131] For example, Figure 5 illustrates a schematic diagram of an application scenario involved in an embodiment of this application. As shown in Figure 5(a), there are parking spaces on both the left and right sides of the target parking space, and a vehicle is parked in the parking space on the right side of the target parking space, while no vehicle is parked in the parking space on the left side of the target parking space. According to the method shown in Figure 4, the parking posture 1 can be determined as the posture of parking on the left side of the target parking space as shown in Figure 5(b). Further, if it is detected that the user has changed the target parking posture to center parking, the posture of the vehicle in the target parking space after parking is shown in Figure 5(c).

[0132] In some implementations, the target parking pose can also be determined based on user preferences. In one example, for a given parking space, after recommending parking pose 1 as the target parking pose to the user, if the user changes to parking pose 2 as the target parking pose, then when that parking space is subsequently identified as a target parking space, parking pose 2 will be determined as the target parking pose. For example, for the target parking space shown in Figure 5, when the user selects this parking space as the target parking space the next time, the centering pose will be determined as the target parking pose. In another example, for target parking spaces of the same type, user preferences for target parking poses are statistically analyzed, and then when a parking space of the same type is identified as a target parking space, the target parking pose is determined based on the user's preference. For example, for target parking spaces with pillars and open spaces on their two long sides respectively, if the user prefers to park closer to the open space, then when other parking spaces of the same type are identified as target parking spaces, parking pose 1 will be determined as the pose closer to the open space.

[0133] To ensure that vehicle occupants clearly understand the vehicle's parking position after it has been parked in the target parking space, an icon indicating the parking position can be displayed on the display device after the target parking position is determined. Taking the vehicle's central control screen as an example, Figure 6 shows a graphical user interface (GUI) provided in an embodiment of this application. In an automatic parking scenario, when the target parking space and target parking position have been determined, the GUI displayed on the central control screen can be as shown in Figure 6(a). This interface includes a content display area 510 and a function bar 520. The content display area 510 includes the following status indicator icons: battery icon, Bluetooth function icon, Wi-Fi function icon, and cellular network signal icon, which are used to indicate the login status of the vehicle system, the remaining battery power, the vehicle's Bluetooth on and / or connected status, the Wi-Fi on status, and the cellular network signal strength, respectively. The content display area 510 also includes a parking control interface 530 and a real-time environmental information display interface 540. The parking control interface 530 is used to determine the target parking space in response to user operation, and / or to activate the automatic parking function in response to user operation to control the vehicle to park in the target parking space. More specifically, when the target parking space and target parking posture have been determined, the parking control interface 530 includes components 531, 532 and icon 533. Component 531 includes three controls for adjusting the target parking posture: a left-aligned control, a center-aligned control and a right-aligned control; component 532 includes two controls for initiating the process of parking the vehicle into the target parking space; icon 533 indicates the location of the target parking space, and can also indicate that the target parking posture is a tail entry. The real-time environmental information display interface 540 is used to display real-time environmental information during the vehicle parking process. This real-time environmental information can be real-time footage captured by the vehicle's camera device, or it can be a virtual environment constructed based on information perceived by the vehicle's perception system. This virtual environment indicates the location of obstacles around the vehicle and / or parking space information. The function bar 520 includes a homepage icon, seat controls, air conditioning controls, and volume controls, which are used to control the content display area 510 to display the homepage, control the on / off switch of seat ventilation and / or adjust the airflow of seat ventilation, control the on / off switch of air conditioning and / or adjust the air conditioning temperature and heating / cooling status, adjust the air circulation status inside the vehicle, and adjust the volume of the sound device, respectively.

[0134] It should be noted that the three controls in component 531 have the following functions: the left-align control is used to park the vehicle in the target parking space in a left-aligned position, the right-align control is used to park the vehicle in the target parking space in a right-aligned position, and the center control is used to park the vehicle in the center of the target parking space.

[0135] For example, if the target parking position is determined to be a right-hand position and the target parking entry position is a rear-entry position, then the boundary of the target parking space corresponding to line 533-a can be determined as the boundary that the vehicle approaches when parking in the target parking space. Further, as shown in Figure 6(a), line 533-a is displayed using a different color than the lines corresponding to other boundaries of the target parking space, so that the user can know the target parking position of the vehicle in the parking space. In addition, the right-hand control in component 531 is selected, and the left-hand and center-hand components are optional, to indicate to the user that the target parking position is a right-hand position.

[0136] In some implementations, if the left-hand control shown in Figure 6(a) is clicked, the central control screen is controlled to display the parking interface shown in Figure 6(b). The parking interface uses icon 533' to indicate the target parking space. Icon 533' includes line 533-b, which indicates the boundary that the vehicle approaches when parking in the target parking space.

[0137] In some implementations, as shown in Figure 7(a), icon 533 also includes control 534, which is used to adjust the parking posture. In one example, when control 534 is clicked, the target parking posture is determined to change to a rear-entry position; in another example, when a voice command for adjusting the target parking posture, such as "Please park rear-entry," is detected, the target parking posture is determined to change to a rear-entry position; in yet another example, when other operations for adjusting the target parking posture are detected, the target parking posture is determined to change to a rear-entry position. Furthermore, after the target parking posture changes to a rear-entry position, the boundary that the vehicle approaches when parking in the target parking space remains unchanged. At this point, icon 533 can be changed to icon 533" as shown in Figure 7(b). Icon 533" indicates that the target parking position is head-in, and icon 533" includes line 533-a', which indicates the boundary that the vehicle approaches when parking in the target parking space. Since the boundary that the vehicle approaches when parking in the target parking space remains unchanged, the target parking position changes from a right-hand position to a left-hand position, and component 531 also changes from being selected by the right-hand control to being selected by the left-hand control. It should be understood that after the parking position is adjusted, the vehicle needs to replan the parking path and update the parking path in the parking interface. For example, when the parking position is tail-in, the parking path is the path indicated by line 535 as shown in Figure 7(a). After the parking position is changed to head-in, the parking path is updated to the path indicated by line 536 as shown in Figure 7(b).

[0138] In one example, after adjusting the parking position to head-in, if the user still wants the right side of the vehicle to be closer to the boundary of the target parking space than the left side when the vehicle is parked in the target parking space, the right-align control can be clicked to adjust the target parking position. When the right-align control is detected to be clicked, as shown in Figure 7(c), the right-align control in component 531 becomes selected, the left-align control and the center control become unselected, and the icon indicating the target parking space changes to icon 537, which includes lines 533-c indicating the boundary that the vehicle is close to when parked in the target parking space.

[0139] In another example, after adjusting the parking position to head-in, if the user still wants the vehicle to be centered in the target parking space, they can click the center control to adjust the target parking position. When the center control is detected to be clicked, as shown in Figure 7(d), the center control in component 531 becomes selected, the left and right controls are deselected, and the icon indicating the target parking space changes to icon 538. Since the vehicle does not approach any long side when parked in the target parking space, icon 538 does not include the line indicating the boundary that the vehicle approaches when parked in the target parking space.

[0140] In some implementations, when a click is detected on control 534 as shown in Figure 7(a), or when other operations adjusting the target parking pose are detected, the target parking pose is determined to change to tail-in. While the target parking pose remains unchanged, the boundary the vehicle approaches when parking in the target parking space changes to the opposite side of the original approach boundary. At this time, icon 533 can change to icon 537 as shown in Figure 7(c). Icon 537 indicates that the target parking pose is head-in, and icon 537 includes line 533-c, which indicates the boundary the vehicle approaches when parking in the target parking space.

[0141] Understandably, when the system or user sets the parking system to adjust the target parking position without changing the boundary of the parking space the vehicle is closest to when parked in the target parking space; or, when there is no obstacle on one side of the parking space boundary indicated by line 533-a, but an obstacle exists on the opposite side of the parking space boundary indicated by line 533-a, and the parking system is set to prioritize moving the vehicle away from the obstacle, when the command to adjust the target parking position is detected on the interface shown in Figure 7(a) displayed on the vehicle control display device, the interface shown in Figure 7(b) can be controlled to be displayed. When the system or user sets the parking system to adjust the target parking position while always keeping the same side (such as the left or right side) of the vehicle closer to the parking space boundary when parked; or, when the parking system is set to prioritize facilitating the opening of the driver's side door, when the command to adjust the target parking position is detected on the interface shown in Figure 7(a) displayed on the vehicle control display device, the interface shown in Figure 7(c) can be controlled to be displayed.

[0142] It should be noted that the controls and icons included in the interfaces shown in Figures 6 and 7 are merely illustrative examples. In actual implementation, the content display area 510 and the function bar 520 may display more or fewer icons. In one example, the content display area 510 may display some or all of the Bluetooth, Wi-Fi, and cellular network signal icons, or may not display these icons, depending on the user's settings. In another example, the function bar 520 may display other styles of icons based on the user's settings for seat ventilation and air conditioning status. Furthermore, the parking control interface 530 may also display other controls, such as controls for activating the panoramic surround view function. Additionally, the icons displayed in the content display area 510 may also be of other styles; for example, the target parking space icon may be of a different style. Furthermore, the control 534 shown in Figure 7 for adjusting the target parking position may not be placed within the target parking space icon; it may be placed in other locations on the parking interface or in other parking interfaces. This application does not limit this.

[0143] After parking begins, the parking control interface 530 can maintain the display of lines indicating the boundary the vehicle is approaching when parking in the target parking space. For example, the highlighted line enclosed by the dashed box 801 in Figure 8 indicates the boundary the vehicle is approaching when parking in the target parking space. Furthermore, when the real-time environmental information display interface 540 includes the target parking space, it can also display elements indicating the boundary the vehicle is approaching when parking in the target parking space. For example, an invisible wall effect (as shown by element 802 in Figure 8) can be overlaid at the corresponding boundary of the target parking space to enhance the user's perception of the relevant boundaries.

[0144] In some implementations, after the user determines the target parking position and the target parking position, the process of parking the vehicle into the target parking space can be initiated by clicking the controls in component 532. For example, when the "Start Parking" control in component 532 is clicked, the vehicle is controlled to park into the target parking space along the planned parking path. As another example, when the "Leave Parking" control in component 532 is clicked, if the driver is detected to have exited the vehicle and all vehicle doors are closed within a certain time period, the vehicle is controlled to park into the target parking space along the planned parking path. This "certain time period" can be between 3 and 5 minutes, or it can be any other duration.

[0145] In some implementations, after the user determines the target parking position and the target parking orientation, the vehicle can be controlled to park in the target parking space via electronic devices associated with the vehicle. These electronic devices can include various handheld devices, wearable devices, computing devices, or other processing devices connected to a wireless modem with wireless communication capabilities. For example, they can be watches, mobile phones, tablets, etc. The following explanation uses a mobile phone as an example.

[0146] Figures 9 and 10 respectively illustrate another schematic diagram of the GUI involved in the embodiments of this application. As shown in Figure 9(a), after determining the target parking space, target parking posture, and target parking position posture, the vehicle sends instruction information indicating the target parking space, target parking posture, and target parking position posture to the mobile phone. According to the received instruction information, the mobile phone controls the display screen to display an icon indicating the target parking space. The icon also indicates the vehicle's target parking posture, target parking position posture, and the boundary of the target parking space that the vehicle is close to when parking in the target parking space. In some implementations, the parking interface displayed on the mobile phone may also include controls for controlling parking. As shown in Figure 9(b), the parking interface includes a start parking control. When the control is detected to be clicked, the mobile phone sends an instruction to the vehicle to start parking. When the vehicle receives the instruction, it controls the vehicle to park in the target parking space.

[0147] In some implementations, the target parking position and target stopping position of the vehicle can also be adjusted via electronic devices. For example, the interface shown in Figure 10(a) also includes left-aligned, center-aligned, and right-aligned controls for adjusting the target parking position, as well as a start parking control for initiating the parking process. After detecting that the left-aligned control and the start parking control are clicked in sequence, the mobile phone screen displays the parking interface shown in Figure 10(b).

[0148] It should be noted that users can click the "Start Parking" control from inside the vehicle or from outside the vehicle. For example, after determining the target parking position and target parking orientation through the steps shown in Figure 6 and / or Figure 7 inside the cabin, the user can start the parking process by clicking the "Start Parking" control on their mobile phone without clicking any control in component 532, getting out of the car and closing the door.

[0149] For example, associating the aforementioned electronic device with a vehicle may include: the account used to log in to the electronic device and the vehicle being the same; or, although the accounts used to log in to the electronic device and the vehicle are different, both being accounts belonging to an authorized user of the vehicle; or, the electronic device being authorized by an authorized user of the vehicle, thereby establishing an association between the vehicle and the electronic device. Associating the electronic device with a vehicle may also include: the ability for the electronic device and the vehicle to transmit information via mobile communication technologies such as Global System for Mobile Communication (GSM), General Packet Radio Service (GPRS), and Long Term Evolution (LTE), such as information transmission between the electronic device and the vehicle via a cloud server; or, the ability for the electronic device and the vehicle to transmit information via short-range wireless communication technologies such as Bluetooth (BT) and Radio Frequency Identification (RFID).

[0150] It should be noted that the above embodiments are illustrated using a perpendicular parking space as an example. The parking method provided in this application can also be applied to parallel parking spaces and angled parking spaces. For specific implementation, please refer to the description in the above embodiments, which will not be repeated here.

[0151] Figure 11 shows another schematic flowchart of the parking method provided in the embodiments of this application. The method can be executed by the vehicle 100 shown in Figure 1, or by electronic devices associated with the vehicle 100, or by the control module 240 shown in Figure 2. The method 1000 includes:

[0152] S1010, Obtain first information, the first information indicating that when the vehicle is parked in the target parking space, the distance between the first boundary of the target parking space and the outer contour of the vehicle is less than the distance between the second boundary of the target parking space and the outer contour of the vehicle.

[0153] The first parking space boundary and the second parking space boundary are the longer boundaries of the target parking space. For example, the first parking space boundary and the second parking space boundary can be the left boundary and the right boundary of the parking space shown in Figure 5, respectively.

[0154] S1020, according to the first information, control the first display device to display the first icon, the first icon is the icon of the target parking space, and the first icon includes an enhanced display first boundary, the enhanced display first boundary indicates that the vehicle is close to the first parking space boundary when parking in the target parking space.

[0155] It should be noted that the target parking space includes multiple parking space boundaries (e.g., at least three boundaries), and correspondingly, the first icon may also include multiple boundaries. Therefore, the aforementioned "enhanced display" refers to an enhanced display compared to the other boundaries in the first icon besides the first boundary. For example, the first boundary can be displayed using a style different from the other boundaries in the first icon. For instance, the first boundary might be a different color than the other boundaries in the first icon, with the first boundary being more prominent; or the first boundary could be highlighted while the other boundaries in the first icon are not highlighted; or a prominent animation effect could be set for the first boundary while no animation effect is set for the other boundaries in the first icon. In other words, in actual implementation, the target parking space icon may be more prominent than other parking space icons, but the first boundary in the target parking space icon will be more prominent than the boundaries of the other icons in the target parking space icon.

[0156] In one example, when the method is executed by an electronic device or its components, the first information can be sent by the vehicle to the electronic device via a cloud server. The first information instructs the electronic device to display that when the vehicle is parked in the target parking space, the distance between the first boundary of the target parking space and the vehicle's outline is less than the distance between the second boundary of the target parking space and the vehicle's outline. Further, the first information can be semantic information describing the vehicle's pose information when parked in the target parking space, including the target parking pose and information indicating the target parking pose; the first information can also be an icon or image, such as the icon of the target parking space shown in Figure 10(a) or (b), in which case the first boundary is the black boundary of the target parking space icon.

[0157] In another example, when the method is executed by a vehicle or its components, the first information includes information indicating a target parking posture and information indicating a target parking posture; wherein, the target parking posture indicates the posture of the vehicle when parking in the target parking space; the target parking posture indicates the positional relationship between the vehicle's outline and the target parking space when the vehicle is parked in the target parking space; and the first display device is the vehicle's display device. For example, the first icon can be the icon of the target parking space shown in Figure 6(a), in which case the first boundary is line 533-a; or, the first icon can be the icon of the target parking space shown in Figure 6(b), in which case the first boundary is line 533-b; or, the first icon can be the icon of the target parking space shown in any one of Figures 7(a) to (c), in which case the first boundary can be line 533-a, line 533-a', or line 533-c, respectively.

[0158] In some implementations, the method further includes: acquiring parking intention information, which indicates that the vehicle's preferred target parking posture is at least one of the following: a parking posture away from obstacles around the target parking space, or a parking posture that facilitates the opening of the door on the driver's side; and determining the parking space boundary of the target parking space that the vehicle is close to when parking in the target parking space based on the parking intention information and the target parking posture.

[0159] In one example, the parking intent information is determined in response to the user's settings for the vehicle. In another example, the parking intent information is determined based on predefined information from the parking system. A more specific method for determining the parking space boundary to which the vehicle will approach when parking in the target parking space based on the parking intent information can be found in the description of method 300, and will not be repeated here.

[0160] In some implementations, the first icon further indicates that the target parking posture is a first parking posture, which is either head-in or tail-in parking. The method further includes: in response to a first instruction indicating adjustment of the target parking posture, determining to change the target parking posture from the first parking posture to a second parking posture, which is either head-in or tail-in parking, and the second parking posture is different from the first parking posture; controlling a first display device to display a second icon, which is an icon of the target parking space, the second icon including an enhanced second boundary, the enhanced second boundary indicating that the vehicle is parked in the target parking space and is close to the second parking space boundary when parked in the target parking space.

[0161] For example, the first icon is icon 533 shown in Figure 7, the first parking posture is rear parking, and the enhanced display first boundary can be line 533-a shown in Figure 7; further, the second icon is icon 537 shown in Figure 7, the second parking posture is front parking, and the enhanced display second boundary can be line 533-c shown in Figure 7. That is, when the rear of the vehicle is parked in the target parking space, the right side of the vehicle is closer to the long side of the target parking space when the vehicle is parked in the target parking space; when the front of the vehicle is parked in the target parking space, the right side of the vehicle is still closer to the long side of the target parking space when the vehicle is parked in the target parking space.

[0162] In some implementations, the first icon further indicates that the target parking posture is a first parking posture, which is either head-in or tail-in parking. The method further includes: in response to a second instruction indicating an adjustment of the target parking posture, determining to change the target parking posture from the first parking posture to a second parking posture, which is either head-in or tail-in parking, and the second parking posture is different from the first parking posture; controlling a first display device to display a third icon, which is an icon of the target parking space, and the third icon includes a first boundary for enhanced display.

[0163] For example, the first icon is icon 533 shown in Figure 7, the first parking posture is rear parking, and the enhanced display first boundary can be line 533-a shown in Figure 7; further, the third icon is icon 533” shown in Figure 7, the second parking posture is front parking, and the enhanced display first boundary can be line 533-a' shown in Figure 7. That is, when the rear of the vehicle is parked in the target parking space, the right side of the vehicle is closer to the long side of the target parking space when the vehicle is parked in the target parking space; when the front of the vehicle is parked in the target parking space, the left side of the vehicle is closer to the long side of the target parking space when the vehicle is parked in the target parking space.

[0164] Furthermore, the first icon is determined when the target parking posture is a first parking posture, which indicates that when the vehicle is parked in the target parking space, the distance between the vehicle's outline and the boundary of the first parking space is less than the distance between the vehicle's outline and the boundary of the second parking space; the method also includes: determining to change the target parking posture to a second parking posture based on the second parking posture and the boundary of the first parking space, the second parking posture indicating that when the vehicle is parked in the target parking space, it is close to the boundary of the first parking space; wherein, the third icon also indicates the second parking posture.

[0165] For example, taking the third icon as icon 533" shown in Figure 7, the vehicle outline in the third icon can indicate the target parking posture; or the target parking posture can also be indicated by other icons.

[0166] In some implementations, the first icon is determined when the target parking posture is a first parking posture, which indicates that when the vehicle is parked in the target parking space, the distance between the vehicle's outline and the boundary of the first parking space is less than the distance between the vehicle's outline and the boundary of the second parking space. The method further includes: in response to a second instruction indicating adjustment of the target parking posture, determining to change the target parking posture to a third parking posture; and according to the third parking posture, controlling a first display device to display a fourth icon, the fourth icon including an enhanced third boundary, the enhanced third boundary indicating that the vehicle is close to the boundary of the second parking space when parked in the target parking space.

[0167] For example, the first icon is icon 533” as shown in Figure 7, the first parking position is left parking, and the first boundary of the enhanced display can be line 533-a' as shown in Figure 7; further, the fourth icon is icon 537 as shown in Figure 7, the third parking position is right parking, and the first boundary of the enhanced display can be line 533-c as shown in Figure 7.

[0168] In one example, environmental perception information and / or in-situ detection information are acquired. The environmental perception information indicates the position of obstacles around the target parking space, and the in-situ detection information indicates the presence of occupants inside the vehicle. Based on the environmental perception information and / or in-situ detection information, a first parking pose is determined. The specific implementation of determining the target parking pose based on the environmental perception information and / or in-situ detection information can be found in the description of the method shown in Figure 4, and will not be repeated here. In some implementations, the first parking pose is determined based on the environmental perception information and / or in-situ detection information, as well as parking intention information. For example, the first parking pose can be parking pose 1 in method 300. The specific implementation of determining the target parking pose by combining the parking intention information can be found in the description in S303, and will not be repeated here.

[0169] In another example, the method further includes: determining a first parking pose based on the user's historical parking information; wherein the historical parking information indicates the user's preferred parking pose. For example, the specific implementation of determining the target parking pose based on historical parking information can be found in the description of the corresponding part of Figure 5, and will not be repeated here.

[0170] In some implementations, the method further includes: planning a parking path based on the target parking position and the target parking position; controlling the vehicle to park in the target parking space along the parking path and park in the target parking space with the target parking position.

[0171] In some implementations, the method further includes: during the process of controlling the vehicle to park in the target parking space, controlling a first display device to display a first interface and / or a second interface, the first interface including at least one control for controlling parking, and the second interface including real-time video during the parking process; the first interface including an icon of the target parking space, the icon of the target parking space including an enhanced icon boundary, the enhanced icon boundary indicating the parking space boundary that the vehicle approaches when parking in the target parking space in the target parking position.

[0172] In one example, the first interface can be the parking control interface 530 in the aforementioned embodiment, and the second interface can be the real-time environmental information display interface 540. In another example, the first interface can also be the parking control interface displayed on the screen of an electronic device; and the second interface can be the real-time image interface displayed on the screen of an electronic device.

[0173] In some implementations, the method further includes: when the second interface includes pixels of the first boundary of the target parking space, controlling the second interface to display a first effect, the first effect indicating the position of the parking space boundary that the vehicle is close to when parking in the target parking space in the real-time image.

[0174] For example, the first effect can be the effect corresponding to element 802 in Figure 8.

[0175] The parking method provided in this application embodiment, by enhancing the display of the first boundary, can indicate to the user the boundary of the parking space that the vehicle will approach after parking in the target parking space. This allows the user to determine the side of the target parking space boundary that the vehicle will approach after parking in the target parking space based on the vehicle's parking posture, reducing the probability of the user incorrectly selecting the parking space boundary that the vehicle needs to approach when the user's left and right perception is unclear. This helps to improve parking efficiency and the user's parking experience.

[0176] 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.

[0177] 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.

[0178] Figure 12 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.

[0179] 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.

[0180] 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.

[0181] 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.

[0182] 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.

[0183] 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.

[0184] 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).

[0185] Figure 13 is another schematic block diagram of the parking device provided in an embodiment 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.

[0186] 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.

[0187] 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).

[0188] 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.

[0189] This application also provides an intelligent driving device, which includes the device 2000 or device 2100 in the above embodiments.

[0190] 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.

[0191] 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.

[0192] This application also provides a chip, including circuitry, for performing the methods described in the above embodiments of this application.

[0193] 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.

[0194] 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.

[0195] 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.

[0196] 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.

[0197] 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.

[0198] 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.

[0199] 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.

[0200] 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, The method comprises: obtaining first information indicating that, when a vehicle is parked in a target parking space, a distance between a first parking space boundary of the target parking space and an outline of the vehicle is smaller than a distance between a second parking space boundary of the target parking space and the outline of the vehicle; wherein the first parking space boundary and the second parking space boundary are longer boundaries in the target parking space; controlling a first display device to display a first icon according to the first information, the first icon being an icon of the target parking space, and the first icon comprising an enhanced display first boundary, the enhanced display first boundary indicating that, when the vehicle is parked in the target parking space, the vehicle is close to the first parking space boundary.

2. The method of claim 1, wherein, The first information comprises information indicating a target parking-in pose and information indicating a target parking pose; wherein the target parking-in pose indicates a pose of the vehicle when the vehicle parks into the target parking space; the target parking pose indicates a positional relationship between an outline of the vehicle and the target parking space when the vehicle is parked in the target parking space; the first display device is a display device of the vehicle.

3. The method according to claim 1 or 2, characterized in that, The method further comprises: obtaining parking intention information, the parking intention information indicating that a target parking pose preferred by the vehicle is at least one of: a parking pose away from an obstacle around the target parking space, or a parking pose facilitating opening of a door on a driver's side; determining, according to the parking intention information and a target parking-in pose, a parking space boundary of the target parking space that the vehicle is close to when the vehicle is parked in the target parking space.

4. The method of claim 3, wherein, The parking intention information is determined in response to a setting of a user of the vehicle.

5. The method according to any one of claims 1 to 4, characterized in that, The first icon further indicates that the target parking-in pose is a first parking-in pose, the first parking-in pose being head-in parking or tail-in parking, and the method further comprises: in response to a first instruction indicating adjustment of the target parking-in pose, determining that the target parking-in pose is changed from the first parking-in pose to a second parking-in pose, the second parking-in pose being head-in parking or tail-in parking, and the second parking-in pose being different from the first parking-in pose; controlling the first display device to display a second icon, the second icon being an icon of the target parking space, the second icon comprising an enhanced display second boundary, the enhanced display second boundary indicating that, when the vehicle parks into the target parking space and is parked in the target parking space, the vehicle is close to the second parking space boundary.

6. The method according to any one of claims 1 to 4, characterized in that, The first icon further indicates that the target parking-in pose is a first parking-in pose, and the first parking-in pose is head-in parking or tail-in parking, and the method further comprises: in response to a second instruction indicating adjustment of the target parking-in pose, determining that the target parking-in pose is changed to a second parking-in pose, the second parking-in pose being head-in parking or tail-in, and the second parking-in pose being different from the first parking-in pose; controlling the display device to display a third icon, the third icon being an icon of the target parking space, the third icon comprising the enhanced display first boundary.

7. The method of claim 6, wherein, The first icon is determined when the target parking pose is a first parking pose, and the first parking pose indicates that, when the vehicle is parked in the target parking space, the distance between the outer contour of the vehicle and the first parking boundary is less than the distance between the outer contour of the vehicle and the second parking boundary. The method further comprises: determining, according to the second parking-in pose and the first parking boundary, that the target parking pose is changed to a second parking pose, and the second parking pose indicates that, when the vehicle is parked in the target parking space, the vehicle is close to the first parking boundary; The third icon further indicates the second parking pose.

8. The method according to any one of claims 1 to 7, characterized in that, The first icon is determined when the target parking pose is a first parking pose, and the first parking pose indicates that, when the vehicle is parked in the target parking space, the distance between the outer contour of the vehicle and the first parking boundary is less than the distance between the outer contour of the vehicle and the second parking boundary. The method further comprises: in response to a second instruction indicating that the target parking pose is adjusted, determining that the target parking pose is changed to a third parking pose; controlling the first display device to display a fourth icon according to the third parking pose, and the fourth icon comprises an enhanced display third boundary, and the enhanced display third boundary indicates that, when the vehicle is parked in the target parking space, the vehicle is close to the second parking boundary.

9. The method according to any one of claims 1 to 8, characterized in that, The method further comprises: planning a parking path according to the target parking-in pose and the target parking pose; controlling the vehicle to park in the target parking space along the parking path and park in the target parking space in the target parking pose.

10. The method of claim 9, wherein, The method further comprises: in the process of controlling the vehicle to park in the target parking space, controlling the first display device to display a first interface and / or a second interface, the first interface comprises at least one control for controlling parking, and the second interface comprises a real-time image in the parking process; The first interface comprises an icon of the target parking space, and the icon of the target parking space comprises an enhanced display icon boundary, and the enhanced display icon boundary indicates the parking boundary close to the vehicle when the vehicle is parked in the target parking space in the target parking pose.

11. The method of claim 10, wherein, The method further comprises: when the second interface comprises a pixel of the first boundary of the target parking space, controlling the second interface to display a first effect, and the first effect indicates the position of the parking boundary close to the vehicle when the vehicle is parked in the target parking space in the real-time image.

12. The method of claim 8, wherein, The method further comprises: obtaining environment perception information and / or in-position detection information, the environment perception information indicating the position of obstacles around the target parking space, and the in-position detection information indicating the in-position situation of the driver and passenger in the vehicle; determining the first parking pose according to the environment perception information and / or the in-position detection information.

13. The method of claim 8, wherein, The method further comprises: determining the first parking pose according to the historical parking information of the user of the vehicle; The historical parking information indicates the preferred parking pose of the user.

14. A parking device, characterized in that It comprises: The acquisition unit is configured to acquire first information, the first information indicating that, when a vehicle is parked in a target parking space, a distance between a first parking space boundary of the target parking space and an outline of the vehicle is smaller than a distance between a second parking space boundary of the target parking space and the outline of the vehicle. The first parking space boundary and the second parking space boundary are longer boundaries in the target parking space. The processing unit is configured to control a first display device to display a first icon according to the first information, the first icon being an icon of the target parking space, and the first icon including an enhanced display first boundary, the enhanced display first boundary indicating that, when the vehicle is parked in the target parking space, the vehicle is close to the first parking space boundary.

15. The apparatus of claim 14, wherein, The first information includes information indicating a target parking-in pose and information indicating a target parking pose. The target parking-in pose indicates a pose of the vehicle when the vehicle parks into the target parking space. The target parking pose indicates a positional relationship between the outline of the vehicle and the target parking space when the vehicle is parked in the target parking space. The first display device is a display device of the vehicle.

16. The apparatus of claim 14 or 15, wherein, The acquisition unit is further configured to: acquire parking intention information, the parking intention information indicating that a target parking pose preferred by the vehicle is at least one of a parking pose away from an obstacle around the target parking space or a parking pose facilitating opening of a door on a driver's side; The processing unit is further configured to determine, according to the parking intention information and the target parking-in pose, a parking space boundary of the target parking space that the vehicle is close to when the vehicle is parked in the target parking space.

17. The apparatus of claim 16, wherein, The parking intention information is determined in response to a setting of a user of the vehicle.

18. The apparatus of any one of claims 14-17, wherein, The first icon further indicates that the target parking-in pose is a first parking-in pose, the first parking-in pose being head-in parking or tail-in parking, and the processing unit is further configured to: determine, in response to a first instruction indicating adjustment of the target parking-in pose, that the target parking-in pose is changed from the first parking-in pose to a second parking-in pose, the second parking-in pose being head-in parking or tail-in parking, and the second parking-in pose being different from the first parking-in pose; control the first display device to display a second icon, the second icon being an icon of the target parking space, the second icon including an enhanced display second boundary, the enhanced display second boundary indicating that, when the vehicle parks into the target parking space and is parked in the target parking space, the vehicle is close to the second parking space boundary.

19. The apparatus of any one of claims 14-18, wherein, The first icon further indicates that the target parking-in pose is a first parking-in pose, and the first parking-in pose is head-in parking or tail-in parking, and the processing unit is further configured to: determine that, in response to a second instruction indicating adjustment of the target parking-in pose, the target parking-in pose is changed from the first parking-in pose to a second parking-in pose that is head-in parking or tail-in parking, and the second parking-in pose is different from the first parking-in pose; control the first display device to display a third icon, the third icon being an icon of the target parking space, and the third icon including the enhanced display first boundary.

20. The apparatus of claim 19, wherein, The first icon is determined in a case where the target parking pose is a first parking pose, the first parking pose indicating that, when the vehicle is parked in the target parking space, a distance between an outer contour of the vehicle and the first parking boundary is smaller than a distance between the outer contour of the vehicle and the second parking boundary; The processing unit is further configured to: determine, according to the second parking-in pose and the first parking boundary, that the target parking pose is changed to a second parking pose, the second parking pose indicating that, when the vehicle is parked in the target parking space, the vehicle is close to the first parking boundary; The third icon further indicates the second parking pose.

21. The apparatus of any one of claims 14-20, wherein, The first icon is determined in a case where the target parking pose is a first parking pose, the first parking pose indicating that, when the vehicle is parked in the target parking space, a distance between an outer contour of the vehicle and the first parking boundary is smaller than a distance between the outer contour of the vehicle and the second parking boundary; The processing unit is further configured to: determine, in response to a second instruction indicating that the target parking pose is adjusted, that the target parking pose is changed to a third parking pose; control the first display device to display a fourth icon according to the third parking pose, the fourth icon including an enhanced display third boundary, the enhanced display third boundary indicating that, when the vehicle is parked in the target parking space, the vehicle is close to the second parking boundary.

22. The apparatus of any one of claims 14-21, wherein, The processing unit is further configured to: plan a parking path according to the target parking-in pose and the target parking pose; control the vehicle to park into the target parking space along the parking path and park in the target parking space in the target parking pose.

23. The apparatus of claim 22, wherein, The processing unit is further configured to: control the first display device to display a first interface and / or a second interface during the process of controlling the vehicle to park into the target parking space, the first interface including at least one control for controlling parking, and the second interface including a real-time image in the process of parking; The first interface includes an icon of the target parking space, the icon of the target parking space including an enhanced display icon boundary, the enhanced display icon boundary indicating a parking boundary close to the vehicle when the vehicle is parked in the target parking space in the target parking pose.

24. The apparatus of claim 23, wherein, The processing unit is further configured to: control the second interface to display a first effect when the second interface includes a pixel of the first boundary of the target parking space, the first effect indicating a position of the parking boundary close to the vehicle when the vehicle is parked in the target parking space in the target parking pose in the real-time image.

25. The apparatus of claim 21, wherein, The acquisition unit is further configured to: acquire environment perception information and / or in-position detection information, the environment perception information indicating a position of an obstacle around the target parking space, and the in-position detection information indicating an in-position situation of a passenger in the vehicle; The processing unit is further configured to determine the first parking pose according to the environment perception information and / or the in-position detection information.

26. The apparatus of claim 21, wherein, The processing unit is further configured to: determine the first parking pose according to historical parking information of a user of the vehicle; The historical parking information indicates a preferred parking pose of the user.

27. A parking device, characterized by The method comprises: a processor configured to execute a computer program stored in a memory to cause the apparatus to perform the method of any one of claims 1 to 13.

28. A computer-readable storage medium, characterized in that, a computer readable storage medium having stored thereon instructions that, when executed by a processor, perform the method of any one of claims 1 to 13.

29. A chip, characterized by the chip comprising circuitry configured to perform the method of any one of claims 1 to 13.

30. A computer program product, characterised in that, the computer program product comprising computer program code which, when run by a processor, performs the method of any one of claims 1 to 13.

31. A vehicle characterized by the vehicle comprising the apparatus of any one of claims 14 to 27, or the computer readable storage medium of claim 28, or the chip of claim 29, or the vehicle being loaded with the computer program product of claim 30.

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