Control method and apparatus, and intelligent driving device

Abstract

A control method and apparatus, and an intelligent driving device. The control method comprises: acquiring a first instruction (S1610); and in response to the first instruction, controlling a display apparatus to display a first component, wherein the first component indicates a first region, other than a parking space defined by parking lines, that is available for berthing of an intelligent driving device, the parking space defined by parking lines refers to a parking space the parking lines of which are recognized by the intelligent driving device, and the first region is determined on the basis of a first reference object around the intelligent driving device and the path feasibility for the intelligent driving device to travel to the first region (S1620). The provided control method and apparatus are applicable to an intelligent driving device or an electric vehicle, and can generate a highly feasible parking region without reliance on parking lines, so as to meet the parking requirements of a user in various scenarios, thereby facilitating an improvement in the user experience.

Description

Control methods, devices and intelligent driving equipment Technical Field

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

[0002] 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.

[0003] Current automated parking systems can identify parking lines to find parking spaces, but they are not suitable for scenarios where no parking spaces are available. In such cases, some automated parking systems can also identify and generate non-standard parking spaces, but the recognition effect is limited and it is difficult to provide users with suitable parking spaces.

[0004] Therefore, a solution that automatically generates suitable parking areas for users is urgently needed. Summary of the Invention

[0005] This application provides a control method, apparatus, and intelligent driving device that can generate flexible parking areas for users without relying on parking space lines, thereby improving the user experience.

[0006] In a first aspect, a control method is provided, which can be executed by an intelligent driving device, for example, by the computing platform of the intelligent driving device, or by a chip or circuit used in the intelligent driving device.

[0007] The intelligent driving devices involved in this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment. For example, the intelligent driving device is a vehicle in a broad sense, which can be a means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of this application do not specifically limit the type of intelligent driving device.

[0008] The method includes: acquiring a first instruction; and responding to the first instruction, controlling a display device to display a first component, the first component indicating a first area for parking of intelligent driving equipment, excluding parking spaces marked with parking lines, wherein the parking spaces marked with parking lines are parking spaces identified by the intelligent driving equipment, and the first area is determined based on first reference objects around the intelligent driving equipment and the feasibility of a path for the intelligent driving equipment to drive to the first area.

[0009] For example, obtaining the first instruction can be achieved by receiving the user's parking or parking space input.

[0010] For example, the first reference object includes at least one of a vehicle and an obstacle.

[0011] In the above technical solution, a parking area can be automatically generated for the intelligent driving device based on a first reference object around the device. This generation method is independent of parking lines, adaptable to environments without parking line markings, and considers the feasibility of the path the intelligent driving device takes to reach the first area. This results in a parking area with good performance to meet users' parking needs in various scenarios, thereby improving the user experience. For example, if a user needs automatic parking but finds no parking lines or spaces available (i.e., non-standard parking spaces), it reduces user satisfaction and experience with the automatic parking feature. The above method provides a non-standard parking space, addressing the user's need for a temporary parking space for automatic parking, greatly enhancing the user's experience and confidence in the automatic parking feature.

[0012] In conjunction with the first aspect, when the first reference object is a vehicle, the first component further includes a first sub-component for indicating the first reference object, a first boundary of the first region being adjacent to the first sub-component, and / or the first boundary of the first region being parallel to the regular boundary of a second reference object surrounding the vehicle parking position corresponding to the first sub-component.

[0013] For example, the first boundary of the first region is adjacent to the first sub-component.

[0014] For example, the first boundary of the first region is parallel to the regular boundary of a second reference object surrounding the vehicle parking location corresponding to the first sub-component.

[0015] For example, the first boundary of the first region is adjacent to the first sub-component, and the first boundary of the first region is parallel to the regular boundary of the second reference object around the vehicle parking position corresponding to the first sub-component.

[0016] In the above technical solution, the parking area for intelligent driving equipment can be generated by referring to the parking positions of surrounding vehicles. The surrounding parked vehicles indicate the possibility that the current area can be used for parking. The parking area generated on this basis is more likely to meet parking requirements and can provide users with more reasonable parking areas to meet their parking needs.

[0017] In conjunction with the first aspect, when the first reference object is an obstacle, the first component further includes a second sub-component for indicating the obstacle, and the second boundary of the first region is adjacent to the second sub-component.

[0018] In the above technical solution, parking areas can be generated for intelligent driving devices by referring to surrounding obstacles. This not only avoids the impact of obstacles on parking, but also makes flexible use of obstacles to delineate parking areas, and can automatically obtain more parking areas to meet the parking needs of users.

[0019] In conjunction with the first aspect, when the boundary between the obstacle and the first region is a regular boundary, the second boundary is parallel to the regular boundary of the obstacle.

[0020] The above technical solution can delineate parking areas according to the rule boundaries of obstacles, which is more in line with users' parking habits and can better meet users' parking needs.

[0021] In conjunction with the first aspect, when the display device displays parking space lines, obtaining the first instruction includes: responding to a first input to a first control on the display device and obtaining the first instruction.

[0022] In the above technical solution, when the display device shows parking spaces with parking lines, it can provide an entrance to generate parking areas other than the parking spaces with parking lines. When the display device has a limited display interface, it can prioritize displaying parking spaces with parking lines and indicate parking areas other than the parking spaces with parking lines through the first control. When the displayed parking spaces cannot meet the user's needs, the user can view other parking areas through the first control. The layout of the parking areas has a sense of hierarchy, which can improve the user's visual experience.

[0023] In conjunction with the first aspect, the control display device displays a first component, including: the control display device displays a second component, the second component indicating a second area for parking of the intelligent driving device other than parking spaces with parking lines, the second area being determined based on a first reference object around the intelligent driving device; when the feasibility of the intelligent driving device driving to the second area is determined to be a path planned for the intelligent driving device to drive to the second area, the control display device switches the second component to the first component.

[0024] For example, the area around the intelligent driving device is identified based on the area size and the size of the intelligent driving device to generate an area available for parking as a second area.

[0025] The above technical solution enables intelligent driving equipment to enter the generated parking area, ensuring the safety and effectiveness of parking and improving user satisfaction with automatic parking features.

[0026] In conjunction with the first aspect, before determining that a path for the intelligent driving device to travel to the second area is planned, the method further includes: determining that there are no obstacles in the second area.

[0027] The above technical solution ensures that the generated parking area can be used for parking, thus guaranteeing parking safety.

[0028] In conjunction with the first aspect, after the control display device displays the first component, the method further includes: obtaining a second instruction for the first area; and in response to the second instruction, controlling the display device to display a third component, the third component indicating the generation of a parking space for the intelligent driving device in the first area.

[0029] For example, the system receives user click, double-click, long-press, or drag operations on the first component corresponding to the first area, and then recognizes the user's input to generate a parking space at a specific location within the first area.

[0030] The above technical solution can meet users' personalized parking needs, identify the parking space the user wants to park in, and customize the parking space in the first area through operations such as dragging. Since the first area is a parking area, users can select the desired parking location in the parking area, which improves parking efficiency and safety and enhances user satisfaction with the automatic parking features.

[0031] In conjunction with the first aspect, the method further includes: controlling the display device to display a fourth component; the fourth component includes at least one of a third sub-component, a fourth sub-component, a fifth sub-component, and a sixth sub-component; the third sub-component indicates an area within the first area that interferes with the passage of vehicles outside the first area, the fourth sub-component indicates vehicles whose passage is interfered with by the first area, the fifth sub-component indicates the trajectory of vehicles whose passage is interfered with by the first area as they travel through the first area, and the sixth sub-component indicates the risk level of parking spaces within the first area that interfere with the passage of vehicles outside the first area.

[0032] For example, the fourth component is used to indicate prompt information, which indicates at least one of the area affected by the first component, vehicle, vehicle trajectory, and parking prompt information.

[0033] For example, the third, fourth, fifth, and sixth sub-components can be displayed at different times.

[0034] The above technical solution enables users to determine whether they need to park their vehicles in the generated parking spaces based on the prompts and their own parking situation, providing users with more parking options. The type of prompts and the timing of their display can be flexibly set, allowing users to intuitively understand the impact of the parking area on surrounding vehicles while preparing to park, and also making it easier for users to adjust their parking positions in a timely manner, thus improving the user experience.

[0035] In a second aspect, a control device is provided, the device including an acquisition unit for: acquiring a first instruction; and a first processing unit 2020 for responding to the first instruction by controlling a display device to display a first component, the first component indicating a first area for parking of an intelligent driving device other than parking spaces with parking lines, the parking spaces with parking lines being parking spaces identified by the intelligent driving device, and the first area being determined based on first reference objects around the intelligent driving device and the feasibility of a path for the intelligent driving device to drive to the first area.

[0036] In conjunction with the second aspect, in some implementations of the second aspect, when the first reference object is a vehicle, the first component further includes a first sub-component for indicating the first reference object, a first boundary of the first region is adjacent to the first sub-component, and / or the first boundary of the first region is parallel to the regular boundary of a second reference object around the vehicle parking position corresponding to the first sub-component.

[0037] In conjunction with the second aspect, in some implementations of the second aspect, when the first reference object is an obstacle, the first component further includes a second sub-component for indicating the obstacle, and the second boundary of the first region is adjacent to the second sub-component.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, when the boundary between the obstacle and the first region is a regular boundary, the second boundary is parallel to the regular boundary of the obstacle.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, when the display device displays parking space lines, the acquisition unit 2010 is used to: respond to a first input to a first control on the display device and acquire a first instruction.

[0040] In conjunction with the second aspect, in some implementations of the second aspect, the first processing unit 2020 is used to: control the display device to display a second component, the second component indicating a second area for parking of the intelligent driving device other than parking spaces with parking lines, the second area being determined based on a first reference object around the intelligent driving device; when the feasibility of the path for the intelligent driving device to travel to the second area is determined to be a path planned for the intelligent driving device to travel to the second area, the control display device switches the second component to the first component.

[0041] In conjunction with the second aspect, in some implementations of the second aspect, before determining a path for the intelligent driving device to travel to the second area, the first processing unit 2020 is further configured to: determine that there are no obstacles in the second area.

[0042] In conjunction with the second aspect, in some implementations of the second aspect, after the control display device displays the first component, the device further includes a second processing unit for: acquiring a second instruction for the first area; and, in response to the second instruction, controlling the display device to display a third component, the third component indicating the generation of a parking space for the intelligent driving device in the first area.

[0043] In conjunction with the second aspect, in some implementations of the second aspect, the apparatus further includes a third processing unit for: controlling the display device to display a fourth component; the fourth component includes at least one of a third sub-component, a fourth sub-component, a fifth sub-component, and a sixth sub-component; the third sub-component indicates an area within the first area that interferes with the passage of vehicles outside the first area, the fourth sub-component indicates vehicles whose passage is interfered with by the first area, the fifth sub-component indicates the trajectory of vehicles whose passage is interfered with by the first area as they travel through the first area, and the sixth sub-component indicates the risk level of parking spaces within the first area that interfere with the passage of vehicles outside the first area.

[0044] Thirdly, a control device is provided, comprising: a memory for storing a computer program; and a processor for executing the computer program stored in the memory, such that the device performs the method as described in any possible implementation of the first aspect.

[0045] Fourthly, an intelligent driving device is provided, which includes means as described in any possible implementation of the second or third aspect.

[0046] Fifthly, a computer-readable storage medium is provided, the computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect.

[0047] In a sixth aspect, a computer program product is provided, comprising: computer program code, which, when executed on a computer, causes the computer to perform the method in any possible implementation of the first aspect.

[0048] It should be noted that the above-mentioned computer program code can be stored in whole or in part on the first storage medium, wherein the first storage medium can be packaged together with the processor or packaged separately from the processor.

[0049] In a seventh aspect, a chip is provided, the chip including circuitry for performing the method in any possible implementation of the first aspect described above. Attached Figure Description

[0050] Figure 1 is a functional block diagram of an intelligent driving device provided in an embodiment of this application;

[0051] Figure 2 is a schematic diagram of the system architecture required for implementing the control method provided in the embodiments of this application;

[0052] Figure 3 is a schematic flowchart of the control method provided in an embodiment of this application;

[0053] Figure 4 is an HMI provided in an embodiment of this application;

[0054] Figure 5 shows another HMI provided in an embodiment of this application;

[0055] Figure 6 illustrates yet another HMI provided in an embodiment of this application;

[0056] Figure 7 illustrates yet another HMI provided in an embodiment of this application;

[0057] Figure 8 illustrates yet another HMI provided in an embodiment of this application;

[0058] Figure 9 illustrates yet another HMI provided in an embodiment of this application;

[0059] Figure 10 illustrates yet another HMI provided in an embodiment of this application;

[0060] Figure 11 illustrates yet another HMI provided in an embodiment of this application;

[0061] Figure 12 illustrates yet another HMI provided in an embodiment of this application;

[0062] Figure 13 illustrates yet another HMI provided in an embodiment of this application;

[0063] Figure 14 illustrates yet another HMI provided in an embodiment of this application;

[0064] Figure 15 shows another HMI provided in an embodiment of this application;

[0065] Figure 16 is another schematic flowchart of the control method provided in the embodiments of this application;

[0066] Figure 17 is a schematic block diagram of a control device provided in an embodiment of this application;

[0067] Figure 18 is another schematic block diagram of the control device provided in the embodiments of this application. Detailed Implementation

[0068] Figure 1 is a functional block diagram of an intelligent driving device provided in an embodiment of this application. As shown in Figure 1, the intelligent driving device 100 may include a perception system 120, a display device 130, and a computing platform 150. The perception system 120 may include several sensors for sensing information about the environment surrounding the intelligent driving device 100. For example, the perception system 120 may include a positioning system, which may be a global navigation satellite system (GNSS), such as the global positioning system (GPS) or the BeiDou system. Alternatively, the perception system 120 may also include one or more of the following: an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0069] The display devices 130 within the cockpit of the intelligent driving equipment 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 in-vehicle infotainment systems. Multiple displays can be installed in the cockpit, 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.

[0070] Some or all of the functions of the intelligent driving device 100 can be controlled by the computing platform 150. The 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 a reconfigurable hardware circuit, 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 the functions of some or all of the above units. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory for storing instructions. Some or all of the processors 151 to 15n can call the instructions in the memory to implement the corresponding functions.

[0071] 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.

[0072] 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, with APA (Automatic Parking Assist), the driver does not need to operate the steering wheel, but still needs to control the accelerator and brake from inside the vehicle; with RPA (Robotic Parking Assist), the driver can use a terminal (such as a mobile phone) to remotely park the vehicle from outside; and with AVP (Automatic Parking Assist), the vehicle can park without a driver. In terms of the corresponding autonomous driving levels, APA is approximately at Level 1, RPA is approximately at Level 2-L3, and AVP is approximately at Level 4.

[0073] As mentioned above, when users use the automatic parking function, non-standard parking spaces are difficult to identify, or the number and effectiveness of identified non-standard parking spaces are limited, making it difficult to provide users with suitable parking spaces.

[0074] In view of this, embodiments of this application provide a control method, apparatus, and intelligent driving device. The parking area is determined based on first reference objects around the intelligent driving device and the feasibility of the path the intelligent driving device takes to a first area. This helps to generate feasible and effective parking areas without relying on parking lines to meet users' parking needs in various scenarios. The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0075] Figure 2 shows a schematic block diagram of the intelligent driving system architecture provided in an embodiment of this application. As shown in Figure 2, the system 200 includes a perception module 210, a human-machine 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 consisting of roads, obstacles, etc., for downstream modules (such as the human-machine interaction module 220 and the control module 240). The perception module 210 can send the information it collects and / or determines to the 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 control module 240 may include one or more processors in the computing platform 150 shown in FIG. 1, for planning a driving path for the vehicle based on environmental information obtained from the perception module 210. The control module 240 may also determine first reference objects around the intelligent driving device based on the environmental information obtained from the perception module 210. Further, when determining the feasibility of a path for the intelligent driving device to reach the first area, the control module 240 may control the display module 230 to display a first component in the parking interface that indicates an area for parking, in addition to parking lines and spaces.

[0079] 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 control module 240 can be subdivided into a planning control module and a display control module, wherein the planning control module is used to plan the driving path for the intelligent driving device, and the display control module is used to control the content displayed by the display module 230. As yet another example, the intelligent driving system 200 may also include an intelligent driving module, which is configured to train and / or use various computer models (such as machine learning models) to generate control commands; the specific form of the intelligent driving module is not limited here.

[0080] 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.

[0081] Figure 3 shows a schematic flowchart of a control method provided in an embodiment of this application. This method 300 can be executed by the intelligent driving device 100 shown in Figure 1, and more specifically, by the computing platform 150 in the intelligent driving device 100; or it can be executed by the intelligent driving system 200 shown in Figure 2. This method 300 may include steps S301 and S302.

[0082] S301, upon receiving input from the user regarding parking or the generation of a parking space, obtain instruction 1.

[0083] For example, instruction 1 may include, but is not limited to: instructions generated based on the user's voice input; instructions generated based on the user's input to a display device or mobile terminal screen.

[0084] In one example, instruction 1 is generated when a specific voice input from the user is detected. The specific voice input may include, but is not limited to: "Smart assistant, start parking", "Smart assistant, please generate a parking space for me", "Smart assistant, please find a parking space for me".

[0085] In another example, user input to a display device or mobile terminal screen may include, but is not limited to, single-finger taps, two-finger taps, and single-finger drags of corresponding components on the display device or mobile terminal screen.

[0086] The instruction to obtain instruction 1 can be an instruction from the user to activate the parking control by tapping with one or two fingers on the display device or mobile terminal screen. Alternatively, it can be an instruction from the user to generate the parking space control by tapping with one or two fingers on the display device or mobile terminal screen. Or, it can be an instruction from the user to drag the intelligent driving device with one finger to activate parking.

[0087] S302, after receiving instruction 1, in response to instruction 1, control the display device to display component 1. Component 1 indicates area 1 for parking of intelligent driving equipment, excluding parking spaces with parking lines. The parking spaces with parking lines are those that the intelligent driving equipment recognizes as parking spaces. Area 1 is determined based on reference objects 1 around the intelligent driving equipment and the feasibility of the path for the intelligent driving equipment to drive to area 1.

[0088] For example, the display device may be an in-vehicle display screen. Upon receiving instruction 1, the in-vehicle display screen component 1 can be controlled to indicate an area 1 for parking the intelligent driving device, excluding parking spaces marked with parking lines. The size of area 1 may be greater than or equal to the size of the area required for parking the intelligent driving device.

[0089] For example, a parking space marked by a parking line can be a standard parking space, or a non-standard parking space such as a temporary parking space marked by a parking line.

[0090] For example, the surrounding environment can be perceived and identified, including parking spaces marked with parking lines around the intelligent driving device. These parking spaces are those identified by the intelligent driving device, allowing it to park within them.

[0091] For example, reference object 1 can be a vehicle or an obstacle. Reference object 1 can be a vehicle or an obstacle, or it can include both vehicles and obstacles. The vehicle can be a parked vehicle, and the obstacle can be a pillar, fire hydrant, lamppost, trash can, flower bed, wall, curb, step, or curb in the environment, etc. The specific type of obstacle is not limited here.

[0092] When the reference point 1 is a vehicle, the system can identify whether there is still space available for parking in the area surrounding the vehicle's parking location, based on the vehicle's parking position. Based on this, it can determine whether the path taken by the intelligent driving device to the parking area is feasible. If the intelligent driving device determines that it can drive to and park in that area, then that area can be designated as parking area 1.

[0093] For example, determining whether the path for an intelligent driving device to reach a parking area is feasible may include: determining whether there are obstacles on the path, whether the distance between the obstacles and the intelligent driving device meets safety requirements, and whether the planned path conforms to the physical characteristics of the intelligent driving device.

[0094] If obstacles on the path are too close, a collision risk may occur. The vehicle's minimum turning radius and minimum speed are among the important constraints for path planning. The path planning process needs to ensure that the planned path conforms to the physical characteristics of the autonomous driving device, such as its ability to navigate smoothly in narrow parking spaces or sharp bends. During path planning, vehicle acceleration and deceleration limits can also be considered to ensure that the vehicle does not lose control due to excessive acceleration or deceleration during parking.

[0095] When planning parking paths, numerical optimization methods such as geometric curve connection methods can be used, or algorithms based on Rapidly-exploring Random Trees (RRT) can be employed to plan paths, ensuring that the path satisfies dynamic constraints while avoiding collisions. Of course, other methods can also be used for parking path planning; these are not limited here.

[0096] To facilitate a better understanding of this application, the following description refers to Figures 4 to 15. Figures 4 to 15 use a vehicle as an example of an intelligent driving device. Figures 4 to 15 also use a central control screen as an example of a display device.

[0097] As shown in Figure 4, Figure 4 illustrates an example of how method 300 is applied in a parking scenario.

[0098] More specifically, Figure 4 shows a set of human-machine interfaces (HMIs) provided in the embodiments of this application. The vehicle to be parked indicated by icon 401 is an example of the above-mentioned intelligent driving device. The position of icon 401 in the interface indicates the coordinates of the actual area where the vehicle to be parked is located. Icon 401 can be understood as an example of the virtual device image in the above embodiments.

[0099] In some scenarios, when reference point 1 is a parked vehicle, the parked vehicle can be represented by icons 402 and 403 in Figure 4(a). The positions of icons 402 and 403 on the interface indicate the coordinates of the actual areas where the two parked vehicles are located. In this case, after receiving instruction 1, the area around the two parked vehicles can be identified, thus determining that there is still a large space between the two parked vehicles to meet the parking needs of the vehicle waiting to park. Component 1 can be generated between icons 402 and 403 on the HMI. Component 1 can be displayed as a rectangle as shown in Figure 4, and the area within the rectangle indicates the actual location range of area 1.

[0100] In other scenarios, when reference 1 is a parked vehicle, if a parked vehicle is detected, it can be represented by icon 405 in Figure 4(b). The position of icon 405 on the interface indicates the coordinates of the actual area where the parked vehicle is located. In this case, after receiving instruction 1, the area around the parked vehicle can be identified, thus determining that there are large areas in front of the parked vehicle and behind its rear that can meet the parking needs of vehicles waiting to be parked. Component 1 can be generated in front of and behind icon 405 on the HMI. As shown in Figure 4(b), component 1 can include a rectangle in front of icon 405 and a rectangle behind icon 405, and the area within both rectangles can be used to park vehicles waiting to be parked.

[0101] In some implementations, component 1 can indicate reference objects in the parking environment and area 1 for parking. That is, component 1 includes not only the sub-components corresponding to area 1, but also the sub-component 1 corresponding to reference object 1.

[0102] In some scenarios, reference object 1 is a vehicle. The position of region 1 is determined based on the position of reference object 1, such that the boundary 1 of region 1 is adjacent to sub-component 1. The boundary 1 of region 1 can be any boundary or a specified boundary.

[0103] If reference 1 includes multiple vehicles, boundary 1 of region 1 may be adjacent to a sub-component corresponding to one of the multiple vehicles. Alternatively, boundary 1 of region 1 may be adjacent to a sub-component corresponding to one of the multiple vehicles, while other boundaries in region 1 besides boundary 1 may be adjacent to sub-components corresponding to the other vehicles.

[0104] In other scenarios, reference object 1 and reference object 2 exist around the intelligent driving device. When reference object 1 is a vehicle, reference object 2 also includes regular boundaries. For example, reference object 2 can be a curb or a wall, which contains straight, regular boundaries. Component 1 may also include a sub-component for indicating reference object 2. In this case, the boundary of region 1 can be set without referencing the position of sub-component 1; instead, reference object 2, which contains regular boundaries, can be selected as a reference to determine the position and boundary of region 1.

[0105] For example, one boundary of region 1 can be made parallel to the regular boundary of reference object 2 around the vehicle parking position corresponding to subcomponent 1, thereby generating region 1 that is more in line with the default parking rules, so that the intelligent driving device can park along the roadside or wall.

[0106] In other scenarios, there are reference object 1 and reference object 2 around the intelligent driving device. When reference object 1 is a vehicle, reference object 2 also includes a regular boundary. Component 1 may also include a sub-component for indicating reference object 2. In this case, one boundary of region 1 can be adjacent to sub-component 1, and the other boundary of region 1 can be parallel to the regular boundary of reference object 2 around the vehicle parking position corresponding to sub-component 1, achieving the effect of combining the characteristics of multiple reference objects to generate a suitable parking area.

[0107] As shown in Figure 5, this figure illustrates another HMI example where method 300 is applied to a parking scenario. The vehicle to be parked, indicated by icon 401, is an example of the aforementioned intelligent driving device.

[0108] As shown in Figure 5, sub-component 1 corresponding to reference object 1 may include sub-components 406 and 407 in the interface. The positions of sub-components 406 and 407 in the interface respectively indicate the coordinates of the actual areas where the two parked vehicles are located. Component 1 also includes a rectangle corresponding to region 1, which includes two long boundaries and two short boundaries. One boundary of region 1 can be any short boundary of the rectangle, and the other boundary of region 1 can be the long boundary on the left side of the rectangle.

[0109] As shown in Figure 5(a), when reference 1 is a parked vehicle, the boundary 1 (short boundary) of region 1 is adjacent to the sub-component corresponding to one of the two parked vehicles. For example, if only sub-component 407 exists, the upper boundary 1 of region 1 in the interface is adjacent to sub-component 407. Alternatively, when sub-components 406 and 407 exist, the upper boundary 1 of region 1 is adjacent to sub-component 407, and the lower boundary 1 of region 1 can be adjacent to the sub-component 406 corresponding to the other parked vehicle.

[0110] As shown in Figure 5(b), when there are other obstacles around the vehicle to be parked, the position of sub-component 404 in the interface indicates the actual position of the obstacle curb, which has a straight, regular boundary. Boundary 1 (short boundary) of region 1 is adjacent to sub-components 406 and 407 corresponding to the vehicle in sub-component 1. In addition, the boundary (long boundary) of region 1 near the curb is parallel to the regular boundary of sub-component 404, that is, the side boundary of region 1 is set parallel to the curb.

[0111] It should be noted that the components and icons in Figures 4 and 5 are merely illustrative examples, and other display formats can be set for each component and icon. In one example, the sub-component corresponding to area 1 can be displayed as a 3D spatial rendering model. In another example, the boundaries of each component can be displayed using coloring, highlighting, or bolding. Of course, the HMI can also display other icons and components, such as displaying some or all of the Bluetooth, Wi-Fi, and cellular signal icons, or not displaying the Bluetooth, Wi-Fi, and cellular signal icons. In yet another example, a function bar can be displayed, which can show icons corresponding to battery level, seat ventilation status, air conditioning status, and other functions. In addition, the HMI can also display other controls, such as controls for activating the panoramic surround view function.

[0112] In some implementations, in S302, the control display device display component 1 includes: first controlling the control display device display component 2, component 2 indicating an area 2 for the intelligent driving device to park, excluding parking spaces and parking lines, the area 2 being determined based on reference objects 1 around the intelligent driving device; then, starting feasible path planning for the intelligent driving device to drive to the area 2, and when the feasibility of the path for the intelligent driving device to drive to the area 2 is determined and a path for the intelligent driving device to drive to the area 2 can be planned, the control display device switches from display component 2 to display component 1.

[0113] For example, after receiving instruction 1, the area around the intelligent driving device can be identified based on the area size and the dimensions of the intelligent driving device to generate a usable parking area as area 2. In this case, it is determined whether the path of the intelligent driving device to area 2 is feasible. If the intelligent driving device determines that it can drive to area 2 for parking, then that area can be determined as the final parking area 1. The method for determining whether the path of the intelligent driving device to area 2 is feasible can refer to the method for determining whether the path of the intelligent driving device to the parking area is feasible in the previous embodiment, and will not be repeated here.

[0114] Figure 6 illustrates another HMI example where method 300 is applied to a parking scenario. Icon 401 indicates the vehicle to be parked, which is an example of the aforementioned intelligent driving device. As shown in Figure 6(a), when reference 1 is a parked vehicle, the parked vehicle can be indicated using icon 408 in Figure 6(a). Furthermore, reference 1 can also be identified as an obstacle rock, indicated by icon 409. In this case, a region 2 can be identified in front of the vehicle to be parked. The lower short boundary of region 2 is adjacent to the front of the parked vehicle; that is, the lower short boundary of the rectangle of component 2 corresponding to region 2 is adjacent to the front position of icon 408. The right long boundary of region 2 is adjacent to the obstacle rock; that is, the right long boundary of the rectangle of component 2 corresponding to region 2 is also adjacent to icon 409. A region 2 can also be identified behind the parked vehicle. The upper short boundary of region 2 is adjacent to the rear of the parked vehicle. That is, the upper short boundary of the rectangle of component 2 corresponding to region 2 is adjacent to the rear position of icon 408.

[0115] After receiving instruction 1, the available parking areas 2 around the two vehicles to be parked are identified. In Figure 6(a), there are available parking areas 2 both in front of and behind icon 408. Based on this, path feasibility planning is started for each of the two areas 2. When planning the parking path for area 2 above icon 408, due to the obstruction of obstacles such as rocks, it is impossible to plan a path for the vehicle to enter area 2, so area 2 cannot meet the parking needs of the vehicle to be parked. However, when planning the parking path for area 2 below icon 408, a path can be successfully planned for the vehicle to enter to meet the parking needs, so area 2 below icon 408 can be determined as the first area to be used for parking. In this case, the display content of the components can be switched by controlling the vehicle display screen, that is, the displayed components can be switched from displaying a rectangle corresponding to area 2 in front of and behind icon 408 to displaying only the rectangle corresponding to area 2 behind icon 408. In other words, component 2, which displays rectangles corresponding to both regions 2, will be replaced by component 1, which displays only rectangles corresponding to one region 2 behind icon 408. This will allow the user to intuitively see the generation process of the first region and improve the user experience.

[0116] It should be noted that after parking path planning, other methods can be used to display the components corresponding to feasible and infeasible areas 2. In one example, the components corresponding to feasible area 2 can be displayed using coloring or highlighting, while the components corresponding to infeasible area 2 can be displayed in grayscale or have additional prompts to indicate the infeasibility of parking. There are no restrictions on the specific display method here.

[0117] In some implementations, before determining a path to area 2 for the intelligent driving device, method 300 further includes: determining that there are no obstacles in area 2.

[0118] For example, after determining a relatively large space (area 2) suitable for parking intelligent driving devices, obstacle detection can be performed on area 2 to determine if parking is possible without obstacles. Obstacles may include ground stakes, ground locks, bollards, and other irregular obstacles. If no obstacles exist in area 2, area 2 can be considered a potential parking area.

[0119] In some implementations, the parking area 1 can be determined based on the location of an obstacle, such that the boundary of area 1 is adjacent to the obstacle. When the reference object 1 is an obstacle, component 1 includes a sub-component for indicating the area 1 available for parking by intelligent driving devices, excluding parking spaces marked with parking lines. Component 1 also includes a sub-component 2 for indicating the obstacle. In this case, the boundary 2 of area 1 is adjacent to sub-component 2. Specifically, the location range of area 1 can be determined based on the actual location of the obstacle and the location of the area available for parking.

[0120] In some implementations, when an obstacle is identified as a regular boundary near a parking area, this regular boundary of the obstacle can be referenced when determining region 1, ensuring that the boundary of region 1 near the obstacle's regular boundary is parallel to that boundary. In other words, when the boundary of the obstacle adjacent to region 1 is a regular boundary, boundary 2 is parallel to the obstacle's regular boundary.

[0121] As shown in Figure 7, this figure illustrates another HMI example where method 300 is applied to a parking scenario. Icon 401 indicates a vehicle to be parked, which is an example of the aforementioned intelligent driving device. Icons 701, 702, 703, and 704 represent obstacle pillars around the vehicle, icons 705 and 706 represent obstacle traffic cones, and icon 707 represents an obstacle wall. Based on the positions of these obstacles, the locations of two areas 1 can be identified around the vehicle for parking. In this case, the icons corresponding to the obstacle pillars, obstacle traffic cones, and obstacle walls all belong to sub-components 2. Component 1 includes not only the rectangles corresponding to the two areas 1 but also these sub-components 2.

[0122] In Figure 7, the positions of the rectangles corresponding to the two sub-components 1 are determined based on the actual positions of the obstacles corresponding to these sub-components 2. The position range of the upper region 1 is determined based on the actual obstacle positions corresponding to icons 701, 702, 705, and 706. The boundary 2 of the rectangle of region 1, such as the upper boundary which is adjacent to icons 701 and 702, means that the position of the upper boundary is determined based on the actual positions of the obstacle pillars corresponding to icons 701 and 702.

[0123] The location of area 1 on the lower side can be determined based on the actual obstacle positions corresponding to icons 703 and 704. The lower boundary 2 of the rectangle of area 1 is adjacent to icons 703 and 704, that is, the position of the lower boundary is determined based on the actual position of the obstacle pillars corresponding to icons 703 and 704.

[0124] It should be noted that the rectangles corresponding to the two areas 1 shown in Figure 7 are displayed separately. In one example, the two areas 1 can also be merged into one area 1 for display. In another example, the two areas 1 can also be divided into two or more areas 1 in other ways for separate display, and each of the divided areas 1 can independently meet the parking needs of vehicles waiting to park.

[0125] As shown in Figure 8, this is another HMI example where method 300 is applied to a parking scenario. In this example, the regular boundaries of obstacles can be used as a reference to determine region 1. Icon 401 indicates a vehicle to be parked, which is an example of the aforementioned intelligent driving device. Icons 701, 702, 703, and 704 represent obstacle pillars around the vehicle to be parked; icon 708 represents an obstacle traffic cone; and icon 707 represents an obstacle wall. In this case, the two regions 1 in Figure 8 are determined based on the actual positions of these obstacles.

[0126] In Figure 8, the area 1 on the left can be determined based on the four obstacle pillars and obstacle cones. The upper boundary of this area 1 is adjacent to icons 701 and 702 in sub-component 1, the lower boundary of this area 1 is adjacent to icons 703 and 704 in sub-component 1, and the right boundary of this area 1 is adjacent to icon 708 in sub-component 1.

[0127] In Figure 8, region 1 on the right can be determined based on obstacle cones and obstacle walls. The left boundary of region 1 is adjacent to icon 708 in subcomponent 1, and the right boundary of region 1 is adjacent to icon 707 in subcomponent 1. Since the obstacle wall has a straight and regular boundary, the right boundary of the rectangle corresponding to region 1 is parallel to the regular boundary of the obstacle wall. This allows a parking area close to the wall to be generated, which is more in line with the user's actual parking habits and generates a parking area with higher user satisfaction.

[0128] In some scenarios, the intelligent driving device fails to identify parking spaces marked with parking lines. The device then needs to identify new available parking areas (1) besides the marked parking spaces, and subsequently display component 1 on the display device. Component 1 includes a sub-component indicating the area 1 available for parking by the intelligent driving device, excluding the marked parking spaces.

[0129] In other scenarios, intelligent driving devices can identify parking spaces and display them on a screen to indicate available parking locations to the user. In one example, if the displayed parking space overlaps or stacks with components of already parked vehicles, it indicates a potential identification error, and the identified parking space cannot be guaranteed to meet the actual parking needs. In another example, if the identified parking space is very close to surrounding parked vehicles or obstacles, these obstacles may interfere with parking, again jeopardizing the ability to meet the parking requirements. In yet another example, if the identified parking space is private and the user does not have a parking permit, or if the user does not wish to park the intelligent driving device in that space, then additional parking areas besides the designated parking spaces need to be generated for the intelligent driving device to meet the user's needs.

[0130] In some implementations, even if the user does not park the intelligent driving device within the identified parking space when the display device shows parking lines and spaces, control 1 can still be displayed on the display device. Obtaining instruction 1 includes: receiving user input 1 to control 1 on the display device, and in response to input 1, obtaining instruction 1. Control 1 is used to control the display of parking areas other than the parking spaces marked with parking lines.

[0131] In this situation, the display device shows the identified parking space lines and parking spaces. The display device also shows control 1, which allows the user to choose an additional parking area 1 for the intelligent driving device when they do not want to or are unable to park the intelligent driving device in the identified parking space lines.

[0132] For example, the first input to control 1 on the display device can be input from the user clicking control 1, double-clicking control 1, or long-pressing control 1. Of course, the first input can also be other forms of input, which are not limited here.

[0133] As shown in Figure 9, this figure illustrates another HMI example where method 300 is applied to a parking scenario, where parking lines and spaces can be identified. Icon 401 indicates a vehicle waiting to park, representing an example of the aforementioned intelligent driving device. The rectangle corresponding to the parking line / space indicates the actual location range of the parking space. Control 901 in Figure 9 indicates control 1. In one example, control 1 can be displayed as text, such as "More Parking Spaces." In another example, control 1 can be displayed as a specific pattern. In yet another example, control 1 can also be displayed as a combination of text and patterns; the display format of control 1 is not limited here.

[0134] In some scenarios, as shown in Figure 9, control 1 can be displayed as a combination of an oval pattern and text. Figure 10 illustrates another HMI example after receiving user input 1 when method 300 is applied to a parking scenario. Taking the user clicking control 901 as input 1 as an example, instruction 1 can be obtained in response to this input 1, and then the HMI shown in Figure 10 can be obtained in response to instruction 1. The HMI in Figure 10 can display component 1 corresponding to area 1 generated after responding to instruction 1, i.e., the rectangle corresponding to area 1 in Figure 10.

[0135] As shown in Figure 10, Figure 10 not only shows the previously identified parking lines and parking spaces, but also identifies the location range corresponding to area 1 outside the newly generated parking lines and parking spaces.

[0136] In one example, region 1 is determined based on reference objects 1 around the vehicle to be parked and the feasibility of the path the vehicle takes to reach region 1. In this case, reference objects 1 around the vehicle to be parked can be identified first to obtain an initial region 2. Then, the feasibility of the parking path can be determined for region 2. If the parking path is feasible, region 2 is displayed as region 1, thereby switching the display content of component 1.

[0137] More specifically, the reference object 1 around the vehicle to be parked is an obstacle, and one boundary of region 1 can be adjacent to the obstacle. Furthermore, when the obstacle has a regular boundary, one boundary of region 1 can be set parallel to the regular boundary of the obstacle. In other words, component 1 corresponding to region 1 also includes a sub-component 2 for indicating obstacles, and the boundary 2 of region 1 is adjacent to sub-component 2. As shown in Figure 10, a rectangle corresponding to region 1 is identified around icon 401 corresponding to the vehicle to be parked. Icon 1001 is used to indicate a traffic cone, and icon 1002 is used to indicate a wall. Icons 1001 and 1002 both belong to sub-component 2 corresponding to the reference object 1 being an obstacle. The rectangle corresponding to region 1, as well as sub-component 2 to which icons 1001 and 1002 belong, all belong to component 1. The upper boundary of the rectangle corresponding to region 1 is adjacent to icon 1001, and the right boundary of the rectangle corresponding to region 1 is adjacent to icon 1002, and this right boundary is parallel to the boundary of the wall of icon 1002.

[0138] After receiving instruction 1, the control display device displays component 1 to indicate area 1 for parking of intelligent driving equipment, excluding parking spaces with parking lines. It can provide parking spaces other than those with parking lines that the intelligent driving equipment recognizes for parking of intelligent driving equipment.

[0139] In one example, component 1 may only include area 1 for parking, which is used to individually indicate to the user that area 1 is available for parking. Area 1 is located near the corresponding component of the intelligent driving device on the display device. In another example, component 1 may include area 1 for parking and environmental information such as vehicles and obstacles around area 1. In addition to parking lines and parking spaces, the intelligent driving device identifies area 1 available for parking, and then displays component 1 on the display device. Component 1 indicates area 1 available for parking, excluding parking lines and parking spaces. When component 1 also includes sub-components other than the sub-component corresponding to area 1, the sub-component corresponding to area 1 can be displayed by highlighting or filling with a different color than the sub-components corresponding to objects such as parking lines and parking spaces, so that area 1 can be distinguished from other sub-components in terms of display effect. When component 1 includes multiple sub-components corresponding to area 1 for parking and environmental information such as vehicles and obstacles around area 1, the display time order of the multiple sub-components can be set according to the actual situation, and can be set to different time orders.

[0140] In some implementations, the display device shows area 1, and the area of ​​area 1 is larger than the area required for parking the intelligent driving device. User instruction 2 can be obtained to determine the actual parking space area for the intelligent driving device from area 1. Specifically, after controlling the display device to display component 1, method 300 further includes: when the display device displays component 1 corresponding to area 1, obtaining user instruction 2 for area 1, and controlling the display device to display component 3 in response to instruction 2. Component 3 can be used to indicate the actual parking space area for the intelligent driving device determined in area 1.

[0141] As shown in Figure 11, this figure illustrates another HMI example where method 300 is applied to a parking scenario. Icon 401 indicates a vehicle to be parked, which is an example of the aforementioned intelligent driving device. After displaying component 1 corresponding to area 1 of the display device, i.e., the vehicle-mounted display screen, since the area of ​​area 1 is larger than the area required for the vehicle to park, it is necessary to determine the specific parking space area from the rectangle corresponding to area 1.

[0142] In one example, the system can receive a user's press on icon 401, generating a movable icon 1101. Icon 1101 indicates the model of the vehicle to be parked during the parking process. The user can move the pressing finger to move icon 1101, and then drag icon 1101 to the desired parking location within area 1. As shown in Figure 11, after pressing icon 401, the user can drag the generated icon 1101 into area 1 along the direction of the arrow in Figure 11, thus realizing input to area 1. The in-vehicle display can be controlled to generate icons 1102 corresponding to parking spaces around icon 1101 within area 1. It can be understood that icon 1102 is used to indicate the parking space in area 1 for the intelligent driving device. Based on this, the user can determine whether to park the intelligent driving device in the parking space indicated by icon 1102 according to their own needs.

[0143] In another example, multiple parking spaces can be automatically divided within area 1, and the user's input on a specific parking space within area 1 can be received to identify the specific parking space the user wants to park in.

[0144] In another example, the system can also receive user clicks, double-clicks, long presses, or drags on the component corresponding to area 1, thereby recognizing the user's input to generate a parking space at a specific location within area 1. As shown in Figure 12, which illustrates another HMI example of method 300 applied to a parking scenario, the vehicle to be parked indicated by icon 401 is an example of the aforementioned intelligent driving device. When the user long-presses a specific location within the rectangle of area 1, a parking space can be generated around the pressed location in response to the user's long-press input. Icon 1201 indicates the parking space generated based on the user's long-press input to area 1.

[0145] In other examples, user input to area 1 can be determined by recognizing at least one of the user's gestures, eye movements, and head movements, or by using a multimodal mixed signal of multiple signal forms as input to determine user instruction 2 for area 1, thereby identifying the actual parking space preferred by the user within area 1.

[0146] In some implementations, the control display device can display component 4 while simultaneously displaying component 1. Component 4 can be used to indicate the area affected by the area indicated by component 1, vehicles, vehicle trajectories, parking prompts, and other prompts. Component 4 may include at least one of sub-components 3, 4, 5, and 6. Different sub-components can be used to indicate different types of prompts. Taking a vehicle-mounted display as an example, at least one sub-component included in component 4 can be displayed simultaneously in display area 1.

[0147] In one example, subcomponent 3 indicates the area within area 1 that interferes with the passage of vehicles outside area 1, subcomponent 4 indicates the vehicles whose passage is interfered with by area 1, subcomponent 5 indicates the trajectory of the vehicles whose passage is interfered with by area 1 as they travel through area 1, and subcomponent 6 indicates the risk level of the parking spaces within area 1 for parking intelligent driving devices interfering with the passage of vehicles outside area 1.

[0148] As shown in Figure 13, this figure illustrates another HMI example where method 300 is applied to a parking scenario. Icon 401 indicates the vehicle to be parked, which is an example of the aforementioned intelligent driving device. While displaying component 1 corresponding to area 1 on the display device, i.e., the vehicle-mounted display screen, component 4 can also be displayed. The grid area sub-component 1301 in Figure 13 is sub-component 3; that is, component 4 only contains sub-component 3. The area corresponding to grid area sub-component 1301 is located within area 1. If the vehicle to be parked enters this grid area, it will interfere with vehicles outside area 1, such as the vehicle on the upper left in Figure 13, exiting the parking space.

[0149] Figure 14 illustrates another HMI example where method 300 is applied to a parking scenario. In Figure 14, grid area subcomponent 1401 is subcomponent 3, trajectory subcomponent 1402 is subcomponent 5, and shaded area subcomponent 1403 is subcomponent 4; that is, component 4 contains subcomponents 3, 4, and 5. Besides grid subcomponent 1401 indicating prompts, shaded area subcomponent 1403 indicates vehicles whose passage will be interfered with by area 1 after a vehicle parks there, and trajectory subcomponent 1402 indicates the trajectory of the interfered vehicle as it exits the parking space. As shown in Figure 14, trajectory subcomponent 1402 overlaps with area 1, and the overlap is located within grid subcomponent 1401. This means that when a vehicle parks within the area corresponding to grid subcomponent 1401, it will interfere with the driving trajectory of the vehicle corresponding to shaded area subcomponent 1403 as it exits the parking space.

[0150] In some implementations, component 4 can be displayed after component 1 is displayed on the display device and component 3 corresponding to the parking space is generated. Component 4 can then be used to intuitively provide the user with information, making it easier for the user to adjust the specific location of the parking space.

[0151] In some implementations, component 4 can be displayed after component 1 is displayed on the display device and before component 3 corresponding to the parking space is generated. This allows the user to be shown parking prompts in a timely manner before receiving instruction 2, making it easier for the user to identify a parking space in area 1 that will have minimal impact on other vehicles.

[0152] Figure 15 illustrates another HMI example of method 300 applied to a parking scenario. In Figure 15, grid area subcomponent 1501 is subcomponent 3, trajectory subcomponent 1503 is subcomponent 5, and shaded area subcomponent 1502 is subcomponent 4; that is, component 4 contains subcomponents 3, 4, and 5. Besides grid subcomponent 1501 indicating prompts, shaded area subcomponent 1502 indicates vehicles whose passage will be interfered with by area 1 after a vehicle parks there, and trajectory subcomponent 1503 indicates the trajectory of the interfered vehicle as it exits the parking space. As shown in Figure 15, trajectory subcomponent 1502 overlaps with area 1, and the overlap is located within grid subcomponent 1501. This means that when a vehicle parks within the area corresponding to grid subcomponent 1501, it will interfere with the driving trajectory of the vehicle corresponding to shaded area subcomponent 1503 as it exits the parking space.

[0153] In this scenario, the user long-presses a location outside the grid sub-component 1501 within the rectangular frame of region 1. By responding to the user's long-press input at that location and acquiring the user's second instruction for region 1, parking spaces are generated around the pressed location for vehicles waiting to park. Icon 1504 indicates the parking space generated based on the user's long-press input for region 1. The parking space corresponding to icon 1504 avoids the area of ​​grid sub-component 1501, does not overlap with trajectory sub-component 1503, and does not interfere with the vehicle corresponding to shadow sub-component 1502 exiting the parking space.

[0154] In some implementations, sub-components 3, 4, 5, and 6 can be displayed at different times. In one example, after component 1 is displayed on the display device and before component 3 corresponding to the parking space is generated, at least one of sub-components 3, 4, and 5 can be displayed on the display device, and sub-component 6 can be displayed after component 3 corresponding to the parking space is generated.

[0155] Understandably, sub-component 3 indicates the area within area 1 that interferes with the passage of vehicles outside area 1, sub-component 4 indicates the vehicles whose passage is interfered with by area 1, and sub-component 5 indicates the trajectory of these vehicles as they pass through area 1. These sub-components can be displayed before a specific parking space is generated to provide a prompt to the user. After the user generates a parking space, appropriate prompts can be displayed based on the location of the generated parking space. At this point, sub-component 6 can be displayed, indicating the risk level of interference that the parking space within area 1, intended for autonomous driving devices, poses to the passage of vehicles outside area 1.

[0156] In one example, the risk level can be determined based on the number of vehicles affected and / or the size of the area within Area 1 that causes the interference. The more vehicles affected and the larger the area within Area 1 that interferes with other vehicles, the higher the risk level.

[0157] In one example, sub-component 6 can display information on the display device using text, images, or a combination of both, or it can provide appropriate prompts to the user through voice prompts. This allows the user to determine whether to park their vehicle in the generated parking space based on risk level information and their own parking situation. In scenarios with low risk levels and where the user is parking temporarily, the user is more likely to park their vehicle in the generated parking space.

[0158] Figure 16 shows another schematic flowchart of the control method provided in an embodiment of this application. This method 1600 can be used in the intelligent driving device shown in Figure 1, or the method can be executed by the system shown in Figure 2. More specifically, the method 1600 includes:

[0159] S1610, retrieve the first instruction.

[0160] In some implementations, obtaining the first instruction can be achieved by receiving corresponding input from the user's parking or parking space. Exemplarily, the intelligent driving device may include the vehicle in the foregoing embodiments, or it may be other means of transportation. The first instruction includes instruction 1 in the foregoing embodiments. For a detailed description of obtaining the first instruction, please refer to S301, which will not be repeated here.

[0161] In some implementations, when the display device displays parking space lines, obtaining the first instruction includes: responding to a first input to a first control on the display device and obtaining the first instruction.

[0162] Exemplarily, the first instruction includes instruction 1 in the foregoing embodiments, the first control includes control 1 in the foregoing embodiments, and the first input includes input 1 in the foregoing embodiments. Exemplarily, in response to the first input to the first control on the display device, the method of obtaining the first instruction can be referred to the description of FIG9 and FIG10 and related parts, thereby providing an entrance to the user when the display device displays parking lines and parking spaces to generate a parking area other than the parking lines and parking spaces.

[0163] S1620, in response to the first command, the control display device displays the first component, the first component indicating a first area for the intelligent driving device to park, excluding parking spaces with parking lines, the parking spaces with parking lines being the parking spaces identified by the intelligent driving device, the first area being determined based on first reference objects around the intelligent driving device and the feasibility of the path for the intelligent driving device to drive to the first area.

[0164] For example, the first component may include component 1 in the above embodiments, and the first region may include region 1 in the above embodiments. The method of controlling the display device to display the first component can be referred to S302 in the above embodiments.

[0165] In some implementations, when the first reference object is a vehicle, the first component further includes a first sub-component for indicating the first reference object, a first boundary of the first region is adjacent to the first sub-component, and / or the first boundary of the first region is parallel to the regular boundary of a second reference object around the vehicle parking position corresponding to the first sub-component.

[0166] For example, the first reference object may include reference object 1 in the foregoing embodiments, the first boundary may include boundary 1 in the foregoing embodiments, the first sub-component may include sub-component 1 in the foregoing embodiments, and the second reference object may include reference object 2 in the foregoing embodiments.

[0167] For example, when the first reference object is a vehicle, a first area can be generated for the intelligent driving device for parking based on the position of the first reference object. The specific method for confirming the first area can be referred to Figures 4 and 5 and the description of related parts, that is, the first boundary of the first area is determined based on the position of the first reference object, and then the position of the first area is obtained.

[0168] In some implementations, the control display device displays a first component, including: the control display device displays a second component, the second component indicating a second area for the intelligent driving device to park, other than parking spaces marked with parking lines, the second area being determined based on a first reference object around the intelligent driving device; when the feasibility of a path for the intelligent driving device to travel to the second area is determined to be a path planned for the intelligent driving device to travel to the second area, the control display device switches the second component to the first component.

[0169] For example, the second component may include component 2 in the foregoing embodiments, and the second region may include region 2 in the foregoing embodiments. The second region is displayed before the first region, and the second region is determined based on a first reference object around the intelligent driving device. The method for determining the second region can refer to the method for determining the first region in S302 and the description in FIG6 and related sections. In this case, the first region is then determined from the second region based on the feasibility of the path from the intelligent driving device to the second region. The method for determining the feasibility of the path from the intelligent driving device to the second region can refer to the method for determining the feasibility of the path from the intelligent driving device to the first region in S302 and the description in FIG6 and related sections.

[0170] In some implementations, before determining a path for the intelligent driving device to travel to the second area, method 1600 further includes: determining that there are no obstacles in the second area.

[0171] For example, after determining a second area with a large space available for parking of intelligent driving equipment, obstacle detection can be performed on the second area to determine that parking can be carried out without obstacles in the second area.

[0172] In some implementations, when the first reference object is an obstacle, the first component also includes a second sub-component for indicating the obstacle, and the second boundary of the first region is adjacent to the second sub-component.

[0173] For example, the second sub-component may include sub-component 2 in the foregoing embodiments, and the second boundary may include boundary 2 in the foregoing embodiments. It is understood that the first component includes not only the sub-component corresponding to the first region but also the second sub-component, and a boundary of the first region, i.e., the second boundary, is adjacent to the region corresponding to the second sub-component. The determination of the position of the first region and the display method of the first component can be referred to Figures 7 and 8 and the description of related parts.

[0174] In some implementations, when the boundary between the obstacle and the first region is a regular boundary, the second boundary is parallel to the regular boundary of the obstacle.

[0175] For example, one boundary of the first region, namely the second boundary, can be parallel to the regular boundary of the obstacle. The specific setting of the first region can be referred to Figure 8 and the description of related parts.

[0176] The control method provided in this application embodiment can automatically generate a parking area for the intelligent driving device based on a first reference object around the intelligent driving device. The generation method does not rely on parking lines and can adapt to various environments without parking line markings. It also takes into account the feasibility of the path for the intelligent driving device to drive to the first area, thereby generating a parking area with good feasibility to meet the parking needs of users in various scenarios and thus improve the user experience.

[0177] In some implementations, after the control display device displays the first component, method 1600 further includes: obtaining a second instruction for the first area; and in response to the second instruction, controlling the display device to display a third component, the third component indicating the generation of a parking space for the intelligent driving device in the first area. The user can obtain the second instruction by inputting the first component corresponding to the first area, thereby recognizing the first area.

[0178] For example, the second instruction may include instruction 2 from the foregoing embodiments, and the third component may include component 3 from the foregoing embodiments. Specific methods for obtaining the second instruction for the first region and controlling the display device to display the third component can be referred to FIG11, FIG12, and the description of related sections.

[0179] In some implementations, method 1600 further includes: controlling the display device to display a fourth component; the fourth component includes at least one of a third sub-component, a fourth sub-component, a fifth sub-component, and a sixth sub-component; the third sub-component indicates an area within the first area that interferes with the passage of vehicles outside the first area, the fourth sub-component indicates vehicles whose passage is interfered with by the first area, the fifth sub-component indicates the trajectory of vehicles whose passage is interfered with by the first area as they travel through the first area, and the sixth sub-component indicates the risk level of parking spaces within the first area that interfere with the passage of vehicles outside the first area.

[0180] For example, the fourth component may include component 4 of the foregoing embodiments, the third sub-component may include sub-component 3 of the foregoing embodiments, the fourth sub-component may include sub-component 4 of the foregoing embodiments, the fifth sub-component may include sub-component 5 of the foregoing embodiments, and the sixth sub-component may include sub-component 6 of the foregoing embodiments.

[0181] For example, the display device can display the first component while simultaneously displaying the fourth component. In another example, the fourth component can be displayed after the display device has displayed the first component and generated the third component corresponding to the parking space. In yet another example, the fourth component can be displayed after the display device has displayed the first component and before generating the third component corresponding to the parking space.

[0182] In some implementations, the third, fourth, fifth, and sixth sub-components can be displayed at different times. In one example, the display device can be controlled to display at least one of the third, fourth, and fifth sub-components after the first component is displayed and before the third component corresponding to the parking space is generated, and the sixth sub-component can be displayed after the third component corresponding to the parking space is generated.

[0183] In one example, the risk level can be determined based on the number of interfering vehicles and / or the size of the area causing the interference within area 1. The more vehicles affected and the larger the area within the first area that interferes with other vehicles, the higher the risk level.

[0184] It should be noted that the specific way the control display device displays the fourth component can be referred to Figures 14 and 15 and the description of the relevant parts.

[0185] The control method provided by the embodiments of this application has been described in detail above with reference to Figures 1 to 16. The apparatus provided by the embodiments of this application will now be described in detail below with reference to Figures 17 and 18. It should be understood that the description of the apparatus embodiments corresponds to the description of the method embodiments; therefore, any content not described in detail can be referred to the method embodiments above, and for the sake of brevity, will not be repeated here.

[0186] Figure 17 shows a schematic block diagram of a control device 2000 provided in an embodiment of this application. The control device 2000 may include units for executing the methods shown in Figures 3 and 16. Each unit in the device 2000 implements the corresponding flow of the above-described method embodiments. The device 2000 includes an acquisition unit 2010, which can be used to implement corresponding data acquisition or transmission / reception functions. The acquisition unit 2010 can also be used to detect various user operations on the display device. When the acquisition unit 2010 is used to detect various user operations on the display device, the acquisition unit 2010 may also be referred to as a detection unit. The device 2000 also includes a first processing unit 2020. The first processing unit 2020 can be used to implement corresponding processing functions; more specifically, the first processing unit 2020 can be used to implement display device control-related processing functions.

[0187] More specifically, the acquisition unit 2010 is used to: acquire a first instruction; the first processing unit 2020 is used to: in response to the first instruction, control the display device to display a first component, the first component indicating a first area for the intelligent driving device to park in addition to parking spaces with parking lines, the parking spaces with parking lines being parking spaces identified by the intelligent driving device, and the first area being determined based on first reference objects around the intelligent driving device and the feasibility of the path for the intelligent driving device to drive to the first area.

[0188] In some possible implementations, when the first reference object is a vehicle, the first component further includes a first sub-component for indicating the first reference object, a first boundary of the first region is adjacent to the first sub-component, and / or the first boundary of the first region is parallel to the regular boundary of a second reference object around the vehicle parking position corresponding to the first sub-component.

[0189] In some possible implementations, when the first reference object is an obstacle, the first component also includes a second sub-component for indicating the obstacle, and the second boundary of the first region is adjacent to the second sub-component.

[0190] In some possible implementations, when the boundary between the obstacle and the first region is a regular boundary, the second boundary is parallel to the regular boundary of the obstacle.

[0191] In some possible implementations, when the display device displays parking space lines, the acquisition unit 2010 is used to: acquire a first instruction in response to a first input to a first control on the display device.

[0192] In some possible implementations, the first processing unit 2020 is used to: control the display device to display a second component, the second component indicating a second area for parking of the intelligent driving device other than parking spaces with parking lines, the second area being determined based on a first reference object around the intelligent driving device; when the feasibility of the path for the intelligent driving device to travel to the second area is determined to be a path planned for the intelligent driving device to travel to the second area, the control display device switches the second component to the first component.

[0193] In some possible implementations, before determining a path for the intelligent driving device to travel to the second area, the first processing unit 2020 is also used to: determine that there are no obstacles in the second area.

[0194] In some possible implementations, after the control display device displays the first component, the device further includes a second processing unit for: acquiring a second instruction for the first area; and, in response to the second instruction, controlling the display device to display a third component, the third component indicating the generation of a parking space for the intelligent driving device in the first area.

[0195] In some possible implementations, the device further includes a third processing unit for: controlling the display device to display a fourth component; the fourth component includes at least one of a third sub-component, a fourth sub-component, a fifth sub-component, and a sixth sub-component; the third sub-component indicates an area within the first area that interferes with the passage of vehicles outside the first area, the fourth sub-component indicates vehicles whose passage is interfered with by the first area, the fifth sub-component indicates the trajectory of vehicles whose passage is interfered with by the first area as they travel through the first area, and the sixth sub-component indicates the risk level of parking spaces within the first area that interfere with the passage of vehicles outside the first area.

[0196] Optionally, the device 2000 further includes a storage unit, which can be used to store instructions and / or data. The first 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.

[0197] 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.

[0198] 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.

[0199] The apparatuses described above are capable of implementing the corresponding steps performed by the computing platform 150 in the methods described above. These functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above; for example, the acquisition unit 2010 can be replaced by a transceiver, and other units, such as the first processing unit 2020, can be replaced by a processor, used to execute the relevant processing operations in each method embodiment.

[0200] Exemplarily, the acquisition unit 2010 and the first processing unit 2020 can be disposed in the intelligent driving device 100 shown in FIG1, or they can also be disposed in the system shown in FIG2. More specifically, the acquisition unit 2010 and the first processing unit 2020 can be disposed in the control module 240. Exemplarily, 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 specific implementation, the one or more processors can be processors disposed in the intelligent driving device 100 shown in FIG1; or the device 2000 can be a chip disposed in the intelligent driving device 100.

[0201] 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).

[0202] Figure 18 is another schematic block diagram of the control device provided in an embodiment of this application. The control device 2100 shown in Figure 18 may include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, transceiver 2120, and memory 2130 are connected via internal interconnection paths. The memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Optionally, the memory 2130 may be coupled to the processor 2110 via an interface or integrated with the processor 2110.

[0203] 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.

[0204] 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).

[0205] Transceiver 2120 uses transceiver devices, such as but not limited to transceivers, to enable communication between device 2100 and other devices or communication networks, in order to receive / send data / information for implementing the methods in the above embodiments.

[0206] This application also provides an intelligent driving device, which includes the device 2000 or device 2100 in the above embodiments.

[0207] The intelligent driving devices involved in the embodiments of this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, intelligent driving devices may be vehicles, which are vehicles in a broad sense, including transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of this application do not specifically limit the type of vehicle.

[0208] 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.

[0209] 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.

[0210] This application also provides a chip, including circuitry, for performing the methods described in the above embodiments of this application.

[0211] 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.

[0212] 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.

[0213] 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.

[0214] 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.

[0215] 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.

[0216] 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.

[0217] 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.

[0218] 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 control method, characterized in that, include: Obtain the first instruction; In response to the first instruction, the control display device displays a first component, which indicates a first area for the intelligent driving device to park, excluding parking spaces with parking lines. The parking spaces with parking lines are those that the intelligent driving device recognizes as parking spaces with parking lines. The first area is determined based on first reference objects around the intelligent driving device and the feasibility of the path for the intelligent driving device to drive to the first area.

2. The method according to claim 1, characterized in that, When the first reference object is a vehicle, the first component further includes a first sub-component for indicating the first reference object, the first boundary of the first region is adjacent to the first sub-component, and / or the first boundary of the first region is parallel to the regular boundary of a second reference object around the vehicle parking position corresponding to the first sub-component.

3. The method according to claim 1, characterized in that, When the first reference object is an obstacle, the first component further includes a second sub-component for indicating the obstacle, and the second boundary of the first region is adjacent to the second sub-component.

4. The method according to claim 3, characterized in that, When the boundary between the obstacle and the first region is a regular boundary, the second boundary is parallel to the regular boundary of the obstacle.

5. The method according to any one of claims 1 to 4, characterized in that, When the display device displays parking space lines, the step of obtaining the first instruction includes: In response to a first input to a first control on the display device, the first instruction is obtained.

6. The method according to any one of claims 1 to 5, characterized in that, The control display device displays the first component, including: The control display device displays a second component that indicates a second area for parking of the intelligent driving device, in addition to the parking spaces marked with parking lines. The second area is determined based on a first reference point around the intelligent driving device. When the feasibility of the path for the intelligent driving device to the second area is determined, and a path for the intelligent driving device to the second area is planned, the display device is controlled to switch the second component to the first component.

7. The method according to claim 6, characterized in that, Before determining the path to the second area for the intelligent driving device, the method further includes: It was determined that there were no obstacles in the second area.

8. The method according to any one of claims 1 to 7, characterized in that, After the control display device displays the first component, the method further includes: Obtain a second instruction for the first region; In response to the second instruction, the display device is controlled to display a third component, which indicates the generation of a parking space in the first area for the intelligent driving device to park.

9. The method according to claim 8, characterized in that, The method further includes: The display device is controlled to display a fourth component; the fourth component includes at least one of a third sub-component, a fourth sub-component, a fifth sub-component, and a sixth sub-component; the third sub-component indicates an area within the first area that interferes with the passage of vehicles outside the first area, the fourth sub-component indicates vehicles whose passage is interfered with by the first area, the fifth sub-component indicates the trajectory of vehicles whose passage is interfered with by the first area as they travel through the first area, and the sixth sub-component indicates the risk level of parking spaces within the first area that interfere with the passage of vehicles outside the first area.

10. A control device, characterized in that, include: Acquisition unit, used to acquire the first instruction; The first processing unit is configured to respond to the first instruction by controlling the display device to display a first component, the first component indicating a first area for the intelligent driving device to park, excluding parking spaces with parking lines, wherein the parking spaces with parking lines are parking spaces identified by the intelligent driving device, and the first area is determined based on first reference objects around the intelligent driving device and the feasibility of the path for the intelligent driving device to drive to the first area.

11. The apparatus according to claim 10, characterized in that, When the first reference object is a vehicle, the first component further includes a first sub-component for indicating the first reference object, the first boundary of the first region is adjacent to the first sub-component, and / or the first boundary of the first region is parallel to the regular boundary of a second reference object around the vehicle parking position corresponding to the first sub-component.

12. The apparatus according to claim 10, characterized in that, When the first reference object is an obstacle, the first component further includes a second sub-component for indicating the obstacle, and the second boundary of the first region is adjacent to the second sub-component.

13. The apparatus according to claim 12, characterized in that, When the boundary between the obstacle and the first region is a regular boundary, the second boundary is parallel to the regular boundary of the obstacle.

14. The apparatus according to any one of claims 10 to 13, characterized in that, When the display device displays parking lines and parking spaces, the acquisition unit is used to: respond to a first input to a first control on the display device and acquire the first instruction.

15. The apparatus according to any one of claims 10 to 14, characterized in that, The first processing unit is used for: The control display device displays a second component that indicates a second area for parking of the intelligent driving device, in addition to the parking spaces marked with parking lines. The second area is determined based on a first reference point around the intelligent driving device. When the feasibility of the path for the intelligent driving device to the second area is determined, and a path for the intelligent driving device to the second area is planned, the display device is controlled to switch the second component to the first component.

16. The apparatus according to claim 15, characterized in that, Before determining a path for the intelligent driving device to travel to the second area, the first processing unit is further configured to: It was determined that there were no obstacles in the second area.

17. The apparatus according to claims 10 to 16, characterized in that, After the control display device displays the first component, the device further includes a second processing unit for: Obtain a second instruction for the first region; In response to the second instruction, the display device is controlled to display a third component, which indicates the generation of a parking space in the first area for the intelligent driving device to park.

18. The apparatus according to claim 17, characterized in that, The device further includes a third processing unit for: The display device is controlled to display a fourth component; the fourth component includes at least one of a third sub-component, a fourth sub-component, a fifth sub-component, and a sixth sub-component; the third sub-component indicates an area within the first area that interferes with the passage of vehicles outside the first area, the fourth sub-component indicates vehicles whose passage is interfered with by the first area, the fifth sub-component indicates the trajectory of vehicles whose passage is interfered with by the first area as they travel through the first area, and the sixth sub-component indicates the risk level of parking spaces within the first area that interfere with the passage of vehicles outside the first area.

19. A control device, characterized in that, include: Memory, used to store computer programs; A processor for executing a computer program stored in the memory to cause the apparatus to perform the method as described in any one of claims 1 to 9.

20. An intelligent driving device, characterized in that, Includes the apparatus as described in any one of claims 10 to 18.

21. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, cause the processor to implement the method as described in any one of claims 1 to 9.

22. A computer program product, characterized in that, The computer program product includes: computer program code, which, when executed by a processor, implements the method as described in any one of claims 1 to 9.

23. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 9.

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