Parking method and apparatus, and vehicle

Abstract

A parking method (300, 1000) and apparatus (2000, 2100), and a vehicle (100). The method (300, 1000) comprises: during a process of parking the vehicle (100) into a first parking area, acquiring waypoint information, which indicates at least one waypoint (1) through which the vehicle (100) needs to pass during the parking process, wherein the first parking area comprises a target parking space, and the at least one waypoint (1) comprises a first waypoint; and controlling the vehicle (100) to first brake to a stop at the first waypoint, and then continue parking into the first parking area.

Description

Parking methods, devices and vehicles

[0001] This application claims priority to Chinese Patent Application No. 202510221501.0, filed on February 26, 2025, entitled "Parking Method, Apparatus and Vehicle", the entire contents of which are incorporated herein by reference. Technical Field

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

[0003] As vehicles become increasingly intelligent and automated, more and more vehicles are equipped with intelligent driving systems to reduce driving stress and improve driving safety. 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 semi-automatically or fully automatically help the user park the vehicle in a parking space. Automatic parking can include automatic parking assist (APA), remote parking assist (RPA), valet parking driver (VPD), and automatic valet parking (AVP), among others.

[0004] However, in the current automatic parking function, the target parking space where the vehicle is parked may be far from the exit of the parking lot, resulting in a poor user experience. Summary of the Invention

[0005] This application provides a parking method, device, and vehicle that can control the vehicle to stop midway to allow the user to get out of the vehicle while it is traveling towards a target parking space, and control the vehicle to continue traveling towards and parking the target parking space after the user leaves the vehicle, which helps to save user time and improve the user's driving experience.

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

[0007] The method includes: during the process of parking a vehicle toward a first parking area, acquiring waypoint information, the waypoint information indicating at least one waypoint that the vehicle needs to pass through during the parking process, the first parking area including the target parking space, and at least one waypoint including the first waypoint; controlling the vehicle to stop at the first waypoint first, and then continuing to park toward the first parking area.

[0008] In the above technical solution, during the parking process, the vehicle can be controlled to temporarily stop at any location required by the user, facilitating the user's exit and reducing commuting time. After the need for temporary stopping is resolved, the vehicle can autonomously continue parking in the target space, which helps improve parking efficiency and user convenience, thus enhancing the user's driving experience.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, obtaining waypoint information includes: in response to a user's first operation, determining a first location in a first parking area as a first waypoint; or, when the vehicle sets a first location as a waypoint in its historical journey, determining the first location as a first waypoint.

[0010] In the above technical solutions, the temporary parking point during the vehicle parking process can be determined based on the user's settings, which helps to meet the user's personalized needs; or, the temporary parking point during the vehicle parking process can be determined based on historical information, without the need for user settings, which helps to improve the user's perception of the vehicle's automation capabilities and further improve the convenience of using the vehicle.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: planning a first driving path that sequentially passes through each of at least one waypoint from the current position of the vehicle, based on the current position of the vehicle; controlling the vehicle to stop at the first waypoint, including: controlling the vehicle to stop when the vehicle travels along the first driving path to the first waypoint.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: modifying the second waypoint to the first waypoint in response to a second operation by the user; and the first driving path does not pass through the second waypoint; or, the first driving path passes through the second waypoint, but the vehicle does not stop when it travels along the first driving path to the position corresponding to the second waypoint.

[0013] This technical solution allows users to flexibly modify waypoints. This enables timely adjustments to the driving route and planned stop locations when the user's desired drop-off point changes, improving the user experience. Furthermore, after the user modifies the waypoints, the planned driving route avoids the original waypoints, or the vehicle no longer needs to stop temporarily when passing the original waypoints. This helps shorten parking distances and / or improve parking efficiency, and also enhances the smoothness of the parking process perceived by the user.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: planning a second driving path based on the current location, wherein the second driving path passes through a second waypoint.

[0015] In conjunction with the first aspect, in some implementations of the first aspect, at least one waypoint further includes a third waypoint, and the method further includes: when or after deleting the third waypoint in response to a third user operation, planning a third driving path based on the current location, and controlling the vehicle to drive along the third driving path; wherein the third driving path does not pass through the third waypoint; or, the third driving path passes through the third waypoint, but the vehicle does not stop when it reaches the position corresponding to the third waypoint along the third driving path.

[0016] The above technical solution allows for the deletion of waypoints where users do not require stopping, responding to user input. After deletion, the vehicle will no longer pass through or stop at those waypoints during parking, thus improving parking efficiency. With all waypoints deleted, the vehicle can directly drive to and park in the target parking space.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: obtaining the first location of the target parking space; and planning a first driving path from the current location through each of at least one waypoint, based on the current location of the vehicle, including: planning the first driving path based on the current location and the first location, wherein the target location of the first driving path is the first location.

[0018] In the above technical solution, given a target parking space, a driving route can be planned based on the location of the target parking space, passing through various waypoints and finally arriving at the target parking space.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: during the process of the vehicle traveling from the last of the at least one waypoints to the first parking area, or after the vehicle has traveled to the first parking area, acquiring information on at least one empty parking space within the vehicle's perception range, and controlling the vehicle to park in one of the at least one empty parking space; or, during the process of the vehicle traveling from the last of the at least one waypoints to the first parking area, acquiring information on at least one empty parking space associated with the first parking area, and controlling the vehicle to park in one of the at least one empty parking space.

[0020] In the above technical solution, when no target parking space is determined, the vehicle can automatically find an empty parking space after the user leaves the vehicle, or the vehicle can park in an empty parking space indicated by the cloud server or roadside equipment, which helps to improve the convenience of the parking process.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, the distance between each waypoint in at least one waypoint and the target parking space is greater than or equal to a first distance threshold.

[0022] In conjunction with the first aspect, in some implementations of the first aspect, parking a vehicle in a first parking area includes: parking a vehicle in a first parking area under a first parking function; wherein the first parking function is a valet parking function or a memory parking function.

[0023] When a vehicle is parked using the existing valet parking or memory parking functions, it cannot temporarily stop while driving towards the target parking space. This technical solution helps to improve the human-likeness, intelligence, and parking flexibility of the valet parking or memory parking functions, thereby improving the user's driving experience.

[0024] In conjunction with the first aspect, in some implementations of the first aspect, controlling the vehicle to first stop at a first waypoint and then continue parking towards the first parking area includes: after the vehicle stops at the first waypoint, controlling the vehicle to continue parking towards the first parking area when the vehicle meets the first condition.

[0025] In the above technical solution, controlling the vehicle to continue driving after it has come to a complete stop under certain conditions helps to improve the timeliness of parking and the safety of driving.

[0026] In conjunction with the first aspect, in some implementations of the first aspect, the first condition includes at least one of the following: receiving a first instruction from a first electronic device associated with the vehicle, the first instruction instructing continued parking; detecting an input to a first component of the vehicle, the first component being used to control the vehicle to enter a driving state; the driver of the vehicle has left the vehicle and all the vehicle doors are closed; or, the distance between the second electronic device and / or the vehicle key and the vehicle is greater than or equal to a second distance threshold.

[0027] In the aforementioned technical solution, when the occupants are still in the vehicle, the vehicle can be controlled to continue driving through its primary components. When the driver has left the vehicle, the driver can control the vehicle to continue driving via electronic devices such as a mobile phone, or the vehicle can automatically initiate the parking continuation process after detecting the driver's departure. This technical solution improves the convenience of controlling the vehicle for continued parking.

[0028] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: controlling the vehicle to stop when the vehicle travels from the target parking space to the first waypoint; and controlling the vehicle to continue traveling towards the destination upon receiving a second instruction instructing the vehicle to continue traveling.

[0029] In the above technical solution, as the vehicle leaves the parking space and travels towards its destination, it can be controlled to stop at the first point along the way (i.e., the location passed during the parking process) without user settings, thus improving the convenience of vehicle use for users.

[0030] Secondly, a parking device is provided, comprising an acquisition unit and a processing unit, wherein the acquisition unit is configured to: acquire waypoint information during the process of a vehicle parking toward a first parking area, the waypoint information indicating at least one waypoint that the vehicle needs to pass through during the parking process, the first parking area including a target parking space, and the at least one waypoint including a first waypoint; the processing unit is configured to: control the vehicle to first stop at the first waypoint, and then continue parking toward the first parking area.

[0031] In conjunction with the second aspect, in some implementations of the second aspect, the device further includes a determining unit for: determining a first location in a first parking area as a first waypoint in response to a first operation by the user; or determining the first location as a first waypoint when the vehicle sets the first location as a waypoint in its historical journey.

[0032] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: plan a first driving path that sequentially passes through each of at least one waypoint from the current position of the vehicle, based on the current position of the vehicle; and control the vehicle to stop at the first waypoint, including: controlling the vehicle to stop when the vehicle travels along the first driving path to the first waypoint.

[0033] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: modify the second waypoint to the first waypoint in response to the user's second operation; and the first driving path does not pass through the second waypoint; or, the first driving path passes through the second waypoint, but the vehicle does not stop when it travels along the first driving path to the position corresponding to the second waypoint.

[0034] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is also used to: plan a second driving path based on the current location, wherein the second driving path passes through a second waypoint.

[0035] In conjunction with the second aspect, in some implementations of the second aspect, at least one waypoint further includes a third waypoint, and the processing unit is further configured to: when or after deleting the third waypoint in response to a third operation by the user, plan a third driving path based on the current location, and control the vehicle to drive along the third driving path; wherein the third driving path does not pass through the third waypoint; or, the third driving path passes through the third waypoint, but the vehicle does not stop when it reaches the position corresponding to the third waypoint along the third driving path.

[0036] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is further configured to: acquire the first location of the target parking space; the processing unit is configured to: plan a first driving route based on the current location and the first location, wherein the target location of the first driving route is the first location.

[0037] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is used to: acquire information on at least one empty parking space within the vehicle's perception range during the process of the vehicle traveling from the last of the at least one waypoints to the first parking area, or after the vehicle has traveled to the first parking area; the processing unit is used to: control the vehicle to park in one of the at least one empty parking space; or, the acquisition unit is used to: acquire information on at least one empty parking space associated with the first parking area during the process of the vehicle traveling from the last of the at least one waypoints to the first parking area; the processing unit is used to: control the vehicle to park in one of the at least one empty parking space.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, the distance between each waypoint in at least one waypoint and the target parking space is greater than or equal to a first distance threshold.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, parking a vehicle in the first parking area includes: parking a vehicle in the first parking area under a first parking function; wherein the first parking function is a valet parking function or a memory parking function.

[0040] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is used to: after the vehicle comes to a stop at the first waypoint, and when the vehicle meets the first condition, control the vehicle to continue parking towards the first parking area.

[0041] In conjunction with the second aspect, in some implementations of the second aspect, the first condition includes at least one of the following: receiving a first instruction from a first electronic device associated with the vehicle, the first instruction instructing continued parking; detecting an input to a first component of the vehicle, the first component being used to control the vehicle to enter a driving state; the driver of the vehicle has left the vehicle and all the vehicle doors are closed; or, the distance between the second electronic device and / or the vehicle key and the vehicle is greater than or equal to a second distance threshold.

[0042] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: control the vehicle to stop when the vehicle travels from the target parking space to the first waypoint; and control the vehicle to continue traveling toward the destination when a second instruction instructing the vehicle to continue traveling is received.

[0043] Thirdly, a control device is provided, comprising: a processor for executing a computer program stored in the memory, such that the device performs the method in any possible implementation of the first aspect described above.

[0044] In conjunction with the third aspect, in some implementations of the third aspect, the device also includes a memory.

[0045] Fourthly, a computer program product is provided, comprising: computer program code, which, when executed on a computer or processor, causes the computer or processor to perform the method in any possible implementation of the first aspect.

[0046] It should be noted that the above computer program code can be stored in whole or in part on a storage medium, which can be packaged together with the processor or packaged separately from the processor.

[0047] Fifthly, a computer-readable storage medium is provided, the computer-readable medium storing instructions that, when executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect.

[0048] In a sixth aspect, a chip is provided, the chip including circuitry for performing the method in any of the possible implementations of the first aspect described above.

[0049] In a seventh aspect, a vehicle is provided that includes means as in any possible implementation of the second or third aspect, or the vehicle includes a computer-readable storage medium as in any possible implementation of the fifth aspect, or the vehicle includes a chip as in any possible implementation of the sixth aspect, or the vehicle is loaded with a computer program product as in any possible implementation of the fourth aspect.

[0050] In conjunction with the seventh aspect, in some implementations of the seventh aspect, the vehicle is a vehicle in a broad sense, such as a means of transportation (e.g., commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (e.g., forklifts, trailers, tractors, etc.), engineering vehicles (e.g., excavators, bulldozers, cranes, etc.), agricultural equipment (e.g., lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. In practical implementation, the vehicle can also be a road vehicle, a water vehicle, an air vehicle, industrial equipment, agricultural equipment, or other intelligent driving equipment such as entertainment equipment.

[0051] For the beneficial effects not described in detail in aspects two through seven, please refer to the description in aspect one, which will not be repeated here. Attached Figure Description

[0052] Figure 1 is a functional schematic block diagram of the vehicle provided in an embodiment of this application;

[0053] Figure 2 is a schematic block diagram of the autonomous driving system architecture provided in an embodiment of this application;

[0054] Figure 3 is a schematic flowchart of the parking method provided in an embodiment of this application;

[0055] Figure 4 is a schematic diagram of the GUI involved in the embodiments of this application;

[0056] Figure 5 is another schematic diagram of the GUI involved in the embodiments of this application;

[0057] Figure 6 is another schematic diagram of the GUI involved in the embodiments of this application;

[0058] Figure 7 is another schematic diagram of the GUI involved in the embodiments of this application;

[0059] Figure 8 is another schematic diagram of the GUI involved in the embodiments of this application;

[0060] Figure 9 is another schematic diagram of the GUI involved in the embodiments of this application;

[0061] Figure 10 is another schematic diagram of the GUI involved in the embodiments of this application;

[0062] Figure 11 is another schematic diagram of the GUI involved in the embodiments of this application;

[0063] Figure 12 is another schematic diagram of the GUI involved in the embodiments of this application;

[0064] Figure 13 is another schematic flowchart of the parking method provided in the embodiments of this application;

[0065] Figure 14 is a schematic block diagram of a parking device provided in an embodiment of this application;

[0066] Figure 15 is another schematic block diagram of the parking device provided in the embodiments of this application. Detailed Implementation

[0067] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0068] Figure 1 is a functional block diagram of a vehicle provided in an embodiment of this application. As shown in Figure 1, the vehicle 100 may include a perception system 120, a human-machine interaction system 130, and a computing platform 150. The perception system 120 may include several sensors for sensing information about the surrounding environment of the vehicle 100. For example, the perception system 120 may include a positioning system, which may be a global navigation satellite system (GNSS), such as the global positioning system (GPS), the BeiDou system, etc. Alternatively, the perception system 120 may also include one or more of the following: an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device. Furthermore, the perception system 120 may also include one or more pressure sensors, acoustic sensors, etc., for monitoring whether there is a user inside the cabin and the user's location.

[0069] The human-computer interaction system 130 includes a device for receiving user commands and a device for providing prompts to the user. The device for receiving user commands may include at least one of the following: a sound receiving device for receiving user voice commands, such as a microphone, transceiver, etc.; or a device for receiving commands input by the user through a screen, such as a human-machine interface (HMI); or a camera device for receiving commands such as user body posture, such as an in-cabin camera. The prompting device may include at least one of the following: a sound-emitting device and a display device. More specifically, the sound-emitting device may include a speaker, audio jack, or other device that plays audio. The display device is mainly divided into two categories: the first is an in-vehicle display screen; the second is a projection display screen, such as a head-up display (HUD). An in-vehicle display screen is a physical display screen and an important component of an in-vehicle infotainment system. It should be noted that an in-vehicle display screen may include an HMI. Head-up display, also known as a head-up display system, is mainly used to display driving information such as speed and navigation on a display device (such as a windshield) in front of the user, in order to reduce the time the user's eyes are shifted, avoid pupil changes caused by the shift of the user's eyes, and improve driving safety and comfort.

[0070] Some or all of the functions of vehicle 100 can be controlled by computing platform 150. Computing platform 150 may include processors 151 to 15n. A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement related functions. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory for storing instructions. Some or all of the processors 151 to 15n can call the instructions in the memory to implement the corresponding functions.

[0071] The computing platform 150 can control the operation of the intelligent driving system, which may include an advanced driving assistance system (ADAS) and / or 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, global navigation satellite systems, 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 vehicle driving.

[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, automatic parking can include APA, RPA, VPD, and AVP. With APA, the driver does not need to operate the steering wheel, but still needs to control the accelerator and brake from outside the vehicle; with RPA, the driver can remotely park the vehicle from outside using a terminal (e.g., a mobile phone); with AVP and VPD, the vehicle can complete parking without a driver. In terms of corresponding autonomous driving levels, APA is approximately at level L1-L2, RPA is approximately at level L2-L3, and AVP and VPD are approximately at level L4.

[0073] The roles of the perception system 120, the human-machine interaction system 130, and the computing platform 150 in this application are explained in detail below with reference to Figure 2. Figure 2 shows a schematic block diagram of the autonomous driving system architecture provided in an embodiment of this application. The system includes a perception module 210, an information acquisition module 210', a control module 220, a human-machine interaction module 230, and an actuator 240. Exemplarily, the perception module 210 may include one or more sensors in the perception system 120 shown in Figure 1; the information acquisition module 210' and the control module 220 may each include one or more processors in the computing platform shown in Figure 1; the human-machine interaction module 230 may include one or more devices in the human-machine interaction system 130; and the actuator 240 may include the steering and braking control system in the vehicle 100. The roles of each module are as described in items (I) to (V) below.

[0074] (i) The perception module 210 is used to collect perception information about the vehicle's surroundings. This perception information can indicate whether there are obstacles obstructing the vehicle's movement or the structural information of the road where the vehicle is located (such as road boundaries, lane lines, etc.). The perception module 210 can send the collected perception information to the control module 220. In addition, the perception module 210 can also send the collected perception information to the information acquisition module 210'.

[0075] (II) The information acquisition module 210' is used to determine the vehicle's location based on the sensing information from the sensing module 210. For example, when the positioning system signal is weak, the vehicle's location information can be determined based on the location when the positioning system signal is greater than or equal to a certain strength, as well as the vehicle's IMU signal, speed information, etc. In addition, the information acquisition module 210' can also acquire historical map data or standard (SD) map data. This SD map data can be map data of the area where the vehicle is currently located. It is understood that the accuracy is generally at the meter level, and the richness is relatively low. It generally mainly includes road information, point of interest (POI) information, etc. POIs are point-type data in electronic maps, containing at least four attributes: name, address, coordinates, and category. Historical map data can include simultaneous localization and mapping (SLAM) or concurrent mapping and localization (CML) map data of a certain area stored on the vehicle or a cloud server.

[0076] The information acquisition module 210' can send the vehicle's location information and the associated map data (such as historical map data and / or SD map data associated with the vehicle's current location) to the control module 220.

[0077] In some implementations, when the map data includes parking lot map data, the map data may record information about the vehicle's historical parking spaces and information about the temporary parking locations set by the user. The aforementioned temporary parking locations may be the locations where the vehicle needs to temporarily stop as it travels from a certain entrance of the parking lot to the target parking space.

[0078] (iii) The control module 220 is used to control the human-machine interaction module 230 to prompt relevant information based on the perceived information and the data from the information acquisition module 210', and / or control the vehicle to drive to the target location or target parking space according to the planned driving path.

[0079] (iv) The human-computer interaction module 230 is used to display the planned driving route and / or parking route, and in response to the user's operation, to determine the temporary parking locations that the vehicle needs to pass through during its journey to the target parking space.

[0080] In some implementations, the control module 220 determines the location of the vehicle based on the perception information; further, when the map data contains information about historical parking spaces, it plans a path for the vehicle to travel to the historical parking space based on the map data associated with the vehicle's location, and controls the vehicle to travel along the path to the historical parking space.

[0081] In some implementations, the human-machine interface module 230 can respond to user operations, determine the target parking space for the current trip, and send the target parking space information to the control module 220. The control module 220 plans the path for the vehicle to travel to the target parking space and controls the vehicle to travel along that path. Specifically, the human-machine interface module 230 can detect relevant user operations while the vehicle is traveling towards a historical parking space and respond to these operations to determine the target parking space for the current trip. It is understood that in some cases, the vehicle may not be able to obtain historical parking space information; for example, if the target area (such as the target parking lot) for the current trip does not have any historical parking spaces recorded, the human-machine interface module 230 can detect relevant user operations while the vehicle is traveling towards the entrance of the target area or while cruising within the target area and respond to these operations to determine the target parking space for the current trip.

[0082] In some implementations, the control module 220 can plan a path for the vehicle to travel to the target parking space based on the vehicle's current location, the target parking space, and at least one temporary stopping point the vehicle needs to pass through during its journey to the target parking space, and control the vehicle to travel along that path. Furthermore, when the vehicle reaches a temporary stopping point, the control module 220 controls the vehicle to stop. When the control module 220 detects a relevant start signal, it controls the vehicle to continue traveling to the next temporary stopping point or the target parking space. In this implementation, the at least one temporary stopping point can be recorded or indicated in map data, or it can be determined by the human-computer interaction module 230 in response to user operations.

[0083] (v) The actuator 240 is used to receive and execute control quantities. When the aforementioned control quantities are executed, it can control the vehicle to travel along the planned path to the target parking space or target location. The control quantities can be calculated by the control module 220 based on the planned path.

[0084] It should be understood that the above modules are only an example, and in actual applications, these modules may be added or removed as needed. For example, in the system architecture shown in Figure 2, the control module 220 and the information acquisition module 210' can be merged into one module. As another example, the control module 220 can be further subdivided into a driving control module and a prompt control module, wherein the driving control module is used to plan a route for the vehicle and control the vehicle to travel along the planned route; the prompt control module is used to control the human-machine interaction module 230 to provide or stop providing information prompts.

[0085] The above describes the autonomous driving system provided in this application. The following details the parking method implemented based on this system.

[0086] Figure 3 shows a schematic flowchart of a parking method provided in an embodiment of this application. This method can be executed by the vehicle 100 shown in Figure 1, or by the autonomous driving system of the vehicle 100, or by the control module 220 shown in Figure 2. The method 300 includes:

[0087] S301, obtain the location of the target parking space and the location of waypoint 1.

[0088] In one example, the target parking space can be determined based on historical trip information. For instance, the target parking space can be the parking space where the vehicle has parked the most times in the target parking area during its historical trips; alternatively, the target parking space can be a user-defined preferred parking space in the target parking area; or, the target parking space can be a user's private parking space in the target parking area. In yet another example, the target parking space can also be the parking space where the vehicle will park in the target parking area during the current trip, determined in response to the user's action. Here, the target parking area can be the parking area where the vehicle is currently located, or it can be the parking area at the destination of the current trip.

[0089] For example, waypoint 1 can be a temporary stop location determined in response to a user's operation, or waypoint 1 can be a temporary stop location in a target parking area determined based on historical trip information.

[0090] For example, historical trip information may be stored on the vehicle's computing platform, or it may be obtained by the vehicle from a cloud server. In some implementations, historical trip information may be determined based on the map data described in the foregoing embodiments.

[0091] S302, based on the current location of the vehicle, plans a driving route 1 to the target parking space, which passes through point 1.

[0092] In some implementations, multiple driving routes can be planned based on the vehicle's current location, waypoint 1, and the location of the target parking space. Driving route 1 can be one of these multiple routes. For example, driving route 1 can be the one with the shortest travel time, or it can be the one with the shortest total mileage, or it can be a route determined in response to the user's selection.

[0093] In some implementations, as the vehicle travels, the driving path can be adjusted in real time based on information such as the location of surrounding obstacles perceived by the vehicle in real time.

[0094] S303, when the vehicle travels along the driving path 1 and reaches the passing point 1, the vehicle is brought to a stop.

[0095] For example, when the vehicle reaches point 1, the vehicle is brought to a stop, causing the vehicle's intelligent driving system to enter a paused state.

[0096] Understandably, when the vehicle stops at point 1, the user can leave the vehicle there, and then the vehicle will drive itself to the target parking space and complete the parking.

[0097] S304, upon detecting an instruction to continue parking, controls the vehicle to continue parking along driving path 1 towards the target parking space.

[0098] In some implementations, multiple waypoints are stored in the historical travel information. Based on the location of the multiple waypoints, a driving route can be planned to pass through each of the multiple waypoints in sequence. When the vehicle reaches a waypoint, it is controlled to stop. When an instruction to continue parking is detected, the vehicle is controlled to drive along the planned driving route to the next waypoint, or drive to the target parking space and park.

[0099] In some implementations, if the driver or all passengers leave the vehicle at point 1, and the driver activated the off-parking function before leaving, the instruction to continue parking can be generated when the user's departure is detected and all doors are closed. The off-parking function refers to a parking function that controls the vehicle to park in a parking space without relying on a short-range wireless communication connection between the mobile phone and the vehicle. This short-range wireless communication can be Bluetooth (BT) communication, etc. In some scenarios, the off-parking function can be considered a type of AVP or VPD.

[0100] In some other implementations, when the driver or all passengers leave the vehicle at point 1, the instruction to continue parking can also be from an electronic device associated with the vehicle. For example, when the electronic device detects that the button for controlling continued parking has been clicked, it sends a signal to the vehicle instructing it to continue parking. After receiving the signal, the vehicle controls itself to continue parking.

[0101] Electronic devices can include various handheld devices, wearable devices, computing devices, or other processing devices connected to a wireless modem with wireless communication capabilities, as well as various forms of terminals, mobile stations, user equipment, etc. Examples include mobile phones, watches, and tablets. The association between an electronic device and a vehicle can include: the electronic device and the vehicle using the same account; or, although the accounts used to log in to the electronic device and the vehicle are different, both are accounts belonging to an authorized user of the vehicle; or, the electronic device is authorized by an authorized user of the vehicle, thereby establishing an association between the vehicle and the electronic device.

[0102] In some other implementations, when the driver has not left the vehicle at point 1, or when there are passengers in the vehicle at point 1 who have not left the vehicle, the instruction to continue parking can be generated in response to the click of the button on the vehicle's central control screen used to control continued parking, or the instruction to continue parking can be a voice command used to control continued parking.

[0103] In some implementations, parking can be automatically triggered when certain conditions are met. For example, when all vehicle doors are closed and the distance between the vehicle and the electronic devices associated with the vehicle and / or the vehicle key is detected to be greater than or equal to a distance threshold, the vehicle can be controlled to continue parking. For instance, the distance threshold can be a value between 3 meters and 5 meters, or it can be any other value.

[0104] To facilitate understanding of the parking method provided in this application, the parking method provided in this application will be described in detail below with reference to the graphical user interface (GUI) shown in Figures 4 to 12.

[0105] Taking a vehicle entering a target parking area and having planned a driving path 1 from the vehicle's current location to the target parking space as an example, the vehicle's display device (such as the central control screen) can be controlled to display the parking interface (or intelligent driving interface or integrated driving and parking interface) shown in Figure 4. As shown in Figure 4, this interface can be a panoramic view of the vehicle during its journey. In addition to elements indicating multiple parking spaces, elements indicating the entrance and exit of the target parking area (such as the underground parking garage entrance and exit), and elements indicating the entrance and exit of the park to which the target parking area belongs (such as the park entrance and exit), it also includes element 401 indicating the vehicle's position in the target parking area, elements 402-a and 402-b indicating driving path 1, and element 403 indicating the target parking space. Among them, element 402-a indicates the part of driving path 1 located on the first floor (L1) of the target parking area, and element 402-b indicates the part of driving path 1 located on the B1 floor. In addition, the interface may include a control bar 405 and a control bar 405'. The controls in control bar 405 are used to switch the map information displayed on the parking interface. The controls in control bar 405 are used to control the display of overall driving route information, L1 level driving route information, and B1 level driving route information on the parking interface. In actual implementation, when the parking interface displays various driving route information, the user can drag the interface to switch the display of information for areas other than those traversed by driving route 1. Control bar 405' includes an exit control, a broadcast control, a return-to-vehicle control, more function controls, and settings controls, which are used to: control the vehicle to exit intelligent driving function; control the audio device to broadcast navigation-related information; control the parking interface to switch to displaying navigation route information near the vehicle; display more controls; and set relevant parameters for intelligent driving function.

[0106] It should be understood that the elements in the interface shown in Figure 4 are merely illustrative examples. In actual implementation, the position of each element or the function of each control can change as the vehicle moves. For example, when the vehicle reaches level B1, the controls in control bar 405 are used to control the parking interface to display the overall driving route information, the driving route information for level B1, and the driving route information for level B2, respectively. As another example, when the vehicle is displaying the driving route information or map information corresponding to each level, an overall view control can be added to control the parking interface to switch to displaying the overall driving route information or map information.

[0107] In some implementations, users may need to leave the target parking area from the area corresponding to circle 404 shown in Figure 4. In the current technological context, the vehicle may only stop and allow the user to disembark after driving the user to the target parking space indicated by element 403. It is evident that the user still needs to walk a distance from the target parking space indicated by element 403 to the area corresponding to circle 404, increasing the user's commuting distance and resulting in a poor user experience. The parking method provided in this application embodiment can set a waypoint in the area corresponding to circle 404, so that the vehicle automatically stops when it reaches the area corresponding to circle 404, facilitating the user's disembarkation and saving commuting time.

[0108] For example, a user can control the parking interface to switch to displaying driving route information (or map information) for a specific floor by clicking the controls in the control bar 405 or by using voice commands. Furthermore, a user can set waypoints by selecting a specific location displayed in the parking interface. For instance, when the control in the control bar that allows the user to control the parking interface to display driving route information for floor B1 is clicked, the display device can be controlled to display the interface shown in Figure 5. Alternatively, when the control in the control bar that allows the user to control the parking interface to display driving route information for floor B1 is clicked, the display device can be controlled to display a panoramic map of floor B1. Furthermore, when user swiping, zooming, or other similar operations are detected, the display device can be controlled to display the interface shown in Figure 5. In this diagram, the multiple rectangular elements enclosed by the dashed box A indicate multiple parking spaces in the target parking area, and element B indicates a portion of driving route 1.

[0109] In some implementations, when a long press is detected at any location in the interface shown in Figure 5, that location can be identified as a waypoint. For example, when a long press is detected near element 406, which indicates the location of the elevator entrance as shown in Figure 5, that location can be identified as a waypoint, and a marker 409 as shown in Figure 6 can be generated and displayed at that location. Furthermore, when a long press is detected near the element corresponding to the elevator entrance shown in Figure 5, the parking interface can be controlled to display a dialog box 410. The dialog box 410 includes information for setting the waypoint (hereinafter referred to as waypoint a) corresponding to the marker 409. For example, the dialog box 410 includes: the location information of waypoint a, such as "near elevator entrance 2 on B1 floor", to indicate that waypoint a is located near elevator entrance 2 on B1 floor; controls for adding labels to waypoint a, such as "elevator entrance" control and "staircase entrance" control, which are used to set the labels of the waypoint to elevator entrance and staircase entrance, respectively; and control 411, which is used to save waypoint a so that when the user comes to this target parking area again, he / she can quickly find the location and set it as the waypoint for the next trip.

[0110] For example, when the "Elevator Entrance" control and control 411 are clicked in sequence, the "Elevator Entrance" control becomes the highlighted state shown in Figure 7, the dialog box 410 becomes the dialog box 410' shown in Figure 7, the marker 409 becomes the state shown in marker 409', and control 411 becomes control 412 to indicate that the transit point a in Figure 6 has been saved. In addition, the dialog box 410' includes an information bar 413 for transit point a, which indicates that transit point a has been saved as the No. 2 boarding / alighting point (i.e., transit point or temporary stop), and the boarding / alighting point is located on the B1 floor, near the elevator entrance.

[0111] It should be noted that marker 409 and marker 409' are different styles of elements, indicating that the waypoints are not collected and collected, respectively. For example, marker 409 and marker 409' may have different colors, and / or marker 409 and marker 409' may have different sizes.

[0112] In addition, the information bar 413 also includes a control 414 for editing information related to pick-up / drop-off point 2. For example, when the control 414 is clicked, the display device can be controlled to display a dialog box 410” and a pop-up window 420. The dialog box 410” can be similar to the dialog box 410, indicating the location information, label, etc., of the transit point a. The pop-up window 420 can include the name of pick-up / drop-off point 2, control 421, control 422, and confirmation control 423. Control 421 is used to set the transit point as a pick-up point; control 422 is used to remove the transit point from the state of being set as a drop-off point; and confirmation control 423 is used to save the set information. The aforementioned pick-up point can be a location where a vehicle needs to temporarily stop while driving from a parking space towards its destination, where a user can get on the vehicle; the aforementioned drop-off point can be a location where a vehicle needs to temporarily stop while parking in the target parking space, where a user can get off the vehicle. In some implementations, after a user favorites a waypoint, it is assumed to be both a pick-up and drop-off point. Furthermore, when the user edits the information of the favorited waypoint, if a control associated with the pick-up or drop-off point is clicked, the waypoint is removed from the state of being set as a pick-up or drop-off point. For example, when controls 422 and 423 (as shown in Figure 7) are clicked sequentially, the waypoint is removed from the state of being set as a drop-off point. Additionally, after removing a waypoint from the state of being set as a pick-up or drop-off point, if a control associated with the pick-up or drop-off point is clicked, the waypoint is set as a pick-up or drop-off point. For example, when controls 421 and 423 (as shown in Figure 7) are clicked sequentially, the waypoint is set as a pick-up point.

[0113] Understandably, when a click is detected on control 412, the favorite of the path point a is canceled.

[0114] In addition to the elements and controls mentioned above, Figures 5 to 7 also include control 407, which controls the parking interface to switch to displaying information about the navigation route near the vehicle; and thumbnail 408, which displays simplified information about the navigation route near the vehicle.

[0115] In some implementations, after setting waypoints as described above, when a control used to control the display of the overall driving path information on the parking interface is clicked, the control display device displays the interface shown in Figure 8. This interface includes element 501, indicating waypoints along the vehicle's journey to the target parking space, i.e., the locations where the vehicle needs to temporarily stop. Element 501 includes control 502, which is used to cancel waypoints. That is, when control 502 is clicked, the waypoint corresponding to the control is canceled, so that the vehicle does not need to temporarily stop at that location while traveling to the target parking space.

[0116] In some implementations, before or after setting waypoints, the control bar 405' displayed in the parking interface may include a favorites control 503. This favorites control 503 displays favorite locations within the target parking area. These favorite locations may include one or more parking spaces, one or more waypoints, or the entrance / exit of the target parking area or the entrance / exit of the park to which the target parking area belongs. The one or more parking spaces may include selected parking spaces and candidate parking spaces. Selected parking spaces are the target parking spaces for the current trip, and candidate parking spaces are those that can be selected as the target parking spaces for the current trip. The one or more waypoints may include selected waypoints and candidate waypoints. Selected waypoints are locations where temporary stops are needed during the journey to the target parking space, and candidate waypoints are points that can be selected as temporary stops during the journey to the target parking space.

[0117] For example, when the click on the favorites control 503 is detected, the display device can be controlled to display the interface shown in FIG9. This interface includes elements indicating navigation information near the vehicle's location, and a dialog box 610 containing information on multiple favorite locations, including: parking space 1, parking space 2, drop-off / pick-up point 1, drop-off / pick-up point 2, and the park entrance / exit. More specifically, the status indicators for each favorite location shown in FIG9 are: parking space 1 is a selected parking space, parking space 2 is a pending parking space, drop-off / pick-up point 1 is a selected route point, and drop-off / pick-up point 2 is a pending route point. Furthermore, the dialog box 610 includes a slider component 614. When the slider component 614 is detected to be moved, the dialog box 610 can display information on other favorite locations.

[0118] As shown in Figure 9, taking the currently planned driving route as an example, the route is for the vehicle to park in parking space No. 1 included in dialog box 610, and passes through pick-up and drop-off point No. 1:

[0119] In one example, when the control 611 associated with parking space 2 is clicked, the path for the vehicle to park in parking space 2, passing through pick-up and drop-off point 1, is replanned, and the vehicle is controlled to travel along the replanned path. The vehicle automatically brakes when it reaches pick-up and drop-off point 1, and when an instruction to continue parking is detected, the vehicle is controlled to continue parking in parking space 2 along the aforementioned planned path.

[0120] In another example, when the control 612 associated with pick-up / drop-off point 1 is clicked, the vehicle's path to the target parking space is replanned, eliminating the need to pass through pick-up / drop-off point 1, and the vehicle is controlled to travel along the replanned path. In other words, the vehicle no longer automatically brakes while traveling towards the target parking space.

[0121] In another example, when the control 613 associated with pick-up / drop-off point 2 is clicked, the vehicle's path to the target parking space is replanned, passing through pick-up / drop-off point 2 but not needing to pass through pick-up / drop-off point 1, and the vehicle is controlled to travel along the replanned path. The vehicle automatically brakes when it reaches pick-up / drop-off point 2, and upon detecting an instruction to continue parking, the vehicle is controlled to continue along the aforementioned planned path to the target parking space.

[0122] In another example, as shown in the left image of Figure 10, the controls associated with the candidate waypoints in the saved locations also include a control 617 for adding waypoints. When the control 617 associated with pick-up / drop-off point 2 is clicked, the vehicle's path to the target parking space is replanned, passing through pick-up / drop-off points 1 and 2, and the vehicle is controlled to travel along the replanned path. Whether the replanned path passes through pick-up / drop-off point 1 or pick-up / drop-off point 2 first can be user-defined, or it can be determined by the vehicle based on the distance between pick-up / drop-off points 1 and 2 and the vehicle's current location. For example, after adding a waypoint, the interface displaying the overall driving path information includes markers indicating the two waypoints, such as markers 501 and 504 shown in Figure 11, indicating pick-up / drop-off points 1 and 2 respectively. It should be noted that the location of marker 504 is only for illustrative purposes. It should be understood that when marker 504 is not located at the location along the originally planned driving route, the replanned driving route will be different from the original driving route.

[0123] It should be understood that the aforementioned markers 501 and 504 are markers corresponding to the condition that the waypoint has been saved. If the user sets an unsaved location as a waypoint (e.g., by selecting a point on a map), the interface can also include markers corresponding to the unsaved waypoint, such as marker 505 shown in Figure 11. Furthermore, during the process of parking the vehicle towards the target parking space, it needs to pass through the waypoints indicated by markers 504, 501, and 505 respectively.

[0124] The above describes methods for modifying and / or adding waypoints after they have been set. In practical implementation, if the vehicle's target parking area has multiple waypoints saved, the system can automatically plan a route that passes through at least one of these waypoints during the journey to the target parking area, and control the vehicle to travel along that route. When the vehicle reaches a waypoint, it can be stopped. In other words, if the user has saved multiple waypoints, after the vehicle reaches and stops at one waypoint, it can continue to other saved waypoints if the conditions for continued parking are met. In some implementations, when the vehicle's target parking area has multiple saved waypoints, the waypoints for the current trip can also be determined in response to the user's selection. For example, if the click on the favorite control 503 is detected before any waypoints are set, a dialog box containing information on multiple favorite locations, as shown in the right figure of Figure 10, can be displayed. Further, when the click on controls 615 and / or 616 is detected, pick-up / drop-off point 1 and / or pick-up / drop-off point 2 are determined as selected waypoints. Then, the path of the vehicle to the target parking space is planned, passing through pick-up / drop-off point 1 and / or pick-up / drop-off point 2, and the vehicle is controlled to drive along the path to the target parking space, and temporarily stop at pick-up / drop-off point 1 and / or pick-up / drop-off point 2.

[0125] It should be noted that the information on one or more waypoints collected above can be regarded as an example of historical itinerary information in method 300.

[0126] In some implementations, the waypoints where the vehicle makes temporary stops on its way to the target parking space can also be recommended by the vehicle to the user. In one example, the vehicle determines the location of at least one elevator entrance and / or at least one staircase entrance within the target parking area based on map information associated with the target parking area. Further, it pushes information about at least one elevator entrance and / or at least one staircase entrance to the user through the parking interface. When the vehicle detects that the user has selected one or more of these locations, it designates these locations as waypoints. In another example, the vehicle remembers the user's last alighting location within the target parking area. Further, it determines waypoints based on at least one of the following: determining the entrance / exit closest to the user's navigation endpoint as a waypoint, or determining the entrance / exit closest to the recorded last vehicle position within the target parking area as a waypoint. More specifically, when determining waypoints, areas with heavy traffic and / or pedestrian flow can be avoided.

[0127] In some implementations, the vehicle automatically brakes when it reaches a waypoint. Further, the display device can switch to display the interface shown in Figure 12, which includes elements indicating the surrounding environment of the waypoint, as well as an information prompt box 621 and a control 622. The information prompt box 621 includes information indicating the vehicle's arrival at the waypoint (e.g., "Arrived at drop-off point") and information indicating the distance between the current location and the target parking space (e.g., "280 meters to default parking space"). The control 622 is used to prompt the user that the exit-parking function can be enabled to control the vehicle to continue parking towards the target parking space. In one example, after detecting that the control 622 has been clicked, the vehicle continues parking towards the target parking space when the exit-parking conditions are met. For example, the exit-parking conditions can be: the user leaves the vehicle and all vehicle doors are closed. In another example, if no click is detected on control 622, but the user is detected getting out of the car and all doors are closed, then upon receiving an instruction to continue parking, the vehicle is controlled to continue parking towards the target parking space. This instruction to continue parking can be from an electronic device associated with the vehicle as described in the previous embodiments, or it can be any other instruction.

[0128] It should be noted that the above embodiments are all illustrated using the example of controlling the vehicle to travel towards a transit point under the premise that a target parking space has been determined. In actual implementation, the target parking space may not be determined during the process of controlling the vehicle to travel towards the transit point. Furthermore, after the vehicle travels to the transit point and automatically stops, and after the user leaves the vehicle, the vehicle can autonomously cruise within the target parking area to find an empty parking space for parking. In one example, after the vehicle automatically stops at the transit point, when an instruction to continue parking is detected, the vehicle searches for an empty parking space within a certain range of the transit point as the target parking space. This certain range can be an area within a circle with a radius of 30 to 50 meters centered on the vehicle's location; or, the certain range can be other ranges. In another example, if the vehicle has been to the target parking area in the past trip and the vehicle has obtained at least one parking space in the target parking area in the past trip, then after the vehicle automatically stops at the passing point, when an instruction to continue parking is detected, the vehicle is controlled to drive to one of the at least one parking space. If one of the at least one parking space is not yet available, the vehicle searches for an empty parking space around that space and parks there.

[0129] It should also be noted that the processing actions (such as control, detection, etc.) or steps involved in Figures 4 to 12 can be executed by the computing platform 150 shown in Figure 1, or by the control module 220 in the autonomous driving system shown in Figure 2. Furthermore, the elements, controls, and components in each interface of Figures 4 to 12 are merely illustrative examples. In actual implementation, these elements, controls, or components may be presented in a different form than in the aforementioned embodiments, or the actual interface may include more or fewer elements, components, and controls compared to the interfaces shown in Figures 4 to 12. Additionally, the various operations on the interface in the aforementioned embodiments (such as clicking, long-pressing, swiping, etc.) are merely illustrative examples. In actual implementation, the operations on each element or control in the interface can also be other operations, such as double-clicking.

[0130] Figure 13 shows another schematic flowchart of the parking method provided in an embodiment of this application. This method can be applied to the vehicle shown in Figure 1, or it can be executed by the system shown in Figure 2. More specifically, the method 1000 may include:

[0131] S1010: During the process of parking the vehicle in the first parking area, obtain waypoint information. The waypoint information indicates at least one waypoint that the vehicle needs to pass through during the parking process. The first parking area includes the target parking space, and the at least one waypoint includes the first waypoint.

[0132] It should be noted that during the vehicle's journey to the first waypoint, the location of the target parking space may or may not have been determined. This first parking area can be a sub-area within the vehicle's target parking area (such as a parking lot). More specifically, if the target parking space has been determined during the vehicle's journey to the first waypoint, then the area where the target parking space is located is the first parking area; if the target parking space has not been determined during the vehicle's journey to the first waypoint, then the first parking area is the area where the vehicle will ultimately park.

[0133] In some implementations, each of the at least one waypoints may be determined based on historical trip information, or it may be determined in response to user settings. For example, taking the first waypoint as an example, the determination of the first waypoint may include: determining the first location in the first parking area as the first waypoint in response to the user's first operation; or, determining the first location as the first waypoint when the vehicle sets the first location as a waypoint in the historical trip.

[0134] For example, the first operation can be the operation of long-pressing a location on the map in the interface shown in Figure 5 in the foregoing embodiments; or, the first operation can be the operation of clicking the control (such as control 617, control 615 or control 616) shown in Figure 10 for adding a waypoint; or, the first operation can be other operations for setting a waypoint, for example, the first operation can be the operation of searching for a location through the search bar of a navigation application or map application and setting it as a waypoint, or the first operation can be the operation of adding a waypoint through voice command.

[0135] In certain scenarios, if the vehicle has set the first location as a waypoint in its historical trips and has saved the waypoint, the first location will be determined as the first waypoint in the current trip; or, if the vehicle has set the first location as a waypoint in its historical trips, the information of the first location will be pushed to the user in the current trip to prompt the user to confirm whether to set the first location as a waypoint. If the user confirms that the first location has been set as a waypoint, the first location will be determined as the first waypoint in the current trip.

[0136] For example, waypoint 1 in method 300 can be considered as an example of a first waypoint.

[0137] S1020: Control the vehicle to stop at the first passing point, and then continue parking towards the first parking area.

[0138] In some implementations, controlling the vehicle to first stop at a first waypoint and then continue parking towards a first parking area includes: after the vehicle stops at the first waypoint, controlling the vehicle to continue parking towards the first parking area when a first condition is met. The first condition includes at least one of the following: receiving a first instruction from an electronic device associated with the vehicle, the first instruction instructing continued parking; detecting an input to a first component of the vehicle, the first component being used to control the vehicle to enter a driving state; the driver of the vehicle has left the vehicle and all vehicle doors are closed; or, the distance between a second electronic device and / or the vehicle key and the vehicle is greater than or equal to a second distance threshold.

[0139] For example, the second electronic device can be a user's mobile terminal device such as a mobile phone, tablet, or watch, and the first electronic device can include the second electronic device. Alternatively, the first electronic device can also be an in-vehicle terminal (such as a computing platform) in the vehicle. More specifically, the first instruction can be generated upon detecting that a button for controlling continued parking on the display screen of the first electronic device has been clicked.

[0140] For example, the first component may include, but is not limited to, the accelerator pedal, lever, or other components used to trigger the vehicle to enter the driving state from the stopped state.

[0141] For example, the second distance threshold can be a value between 3 meters and 5 meters, or it can be other values.

[0142] In some implementations, the method further includes: planning a first driving path that sequentially passes through each of at least one waypoint from the current location of the vehicle, based on the current location of the vehicle; controlling the vehicle to stop at the first waypoint, including: controlling the vehicle to stop when the vehicle travels along the first driving path to the first waypoint.

[0143] Understandably, when the target parking space has not yet been determined, the first driving route can be the driving route from the current location of the vehicle to the last of the at least one waypoints. The last waypoint can be the waypoint that is farthest from the vehicle in a straight line among the at least one waypoints, or the last waypoint can be the waypoint that requires the longest driving distance among the at least one waypoints.

[0144] In some implementations, the method further includes: modifying the second waypoint to the first waypoint in response to a second user operation; and the first driving path does not pass through the second waypoint; or the first driving path passes through the second waypoint, but the vehicle does not stop when it travels along the first driving path to the position corresponding to the second waypoint.

[0145] For example, the second operation can be the user deleting the second waypoint and then adding the first waypoint; or, taking the first waypoint as the No. 2 boarding / alighting point shown in Figure 9 as an example, the second operation can also be the operation of clicking the control 613 shown in Figure 9; or, the second operation can also be the operation of modifying the waypoint through voice commands.

[0146] In some implementations, before modifying the second waypoint to the first waypoint, the method further includes: planning a second driving path based on the current location, the second driving path passing through the second waypoint.

[0147] Understandably, if the second operation is not detected before and when the vehicle reaches the second waypoint, the vehicle is controlled to travel along the second travel path, and when the vehicle reaches the second waypoint, the vehicle is controlled to stop.

[0148] In some scenarios, the first and second driving paths can be the same. For example, when the second waypoint is a location that the vehicle must pass through on its way to the target parking space, the first and second driving paths are the same.

[0149] In some implementations, at least one waypoint also includes a third waypoint, and the method further includes: when or after deleting the third waypoint in response to a third user operation, planning a third driving path based on the current location, and controlling the vehicle to drive along the third driving path; wherein the third driving path does not pass through the third waypoint; or, the third driving path passes through the third waypoint, but the vehicle does not stop when it reaches the position corresponding to the third waypoint along the third driving path.

[0150] For example, taking the third waypoint as the boarding / alighting point No. 1 shown in Figure 9 as an example, the third operation can be clicking the control 612 in Figure 9; or, the third operation can also be clicking the control 502 shown in Figure 8; or, the third operation can also be canceling the waypoint by controlling the voice command.

[0151] In some scenarios, the third waypoint and the first waypoint can be the same waypoint. It should be understood that if all waypoints are cancelled during the parking process, the vehicle can drive directly to the target parking space and park without needing to make any further stops along the way.

[0152] In some implementations, the method further includes: obtaining the first location of the target parking space; and planning a first driving path from the current location of the vehicle through each of at least one waypoint, based on the current location of the vehicle, including: planning the first driving path based on the current location and the first location, wherein the target location of the first driving path is the first location.

[0153] In some implementations, during the process of the vehicle traveling from the last of the at least one waypoints to the first parking area, or after the vehicle has traveled to the first parking area, information on at least one empty parking space within the vehicle's perception range is obtained, and the vehicle is controlled to park in one of the at least one empty parking space; or, during the process of the vehicle traveling from the last of the at least one waypoints to the first parking area, information on at least one empty parking space associated with the first parking area is obtained, and the vehicle is controlled to park in one of the at least one empty parking space.

[0154] Among them, obtaining information on at least one empty parking space within the vehicle's perception range means that the location of at least one empty parking space is perceived by the vehicle's perception system; obtaining information on at least one empty parking space associated with the first parking area means that information such as the location of at least one empty parking space is obtained from roadside equipment or a cloud server.

[0155] In some implementations, the distance between each waypoint in at least one waypoint and the target parking space is greater than or equal to a first distance threshold.

[0156] For example, the first distance threshold can be a value between 30 meters and 50 meters, or the first distance threshold can be other values.

[0157] In some implementations, parking a vehicle in the first parking area includes: parking a vehicle in the first parking area under the first parking function; wherein the first parking function is a valet parking function or a memory parking function.

[0158] In some implementations, the method further includes: controlling the vehicle to stop when it travels from the target parking space to the first waypoint; and controlling the vehicle to continue traveling toward the destination upon receiving a second instruction instructing the vehicle to continue.

[0159] For example, the destination can be the final destination of the vehicle after entering the target parking space, or it can be the exit of the parking lot to which the target parking space belongs. The second instruction can be any of the following: an instruction generated when input is detected to the aforementioned first component; a voice instruction; or an instruction generated when a control on the in-vehicle display screen used to control the continued driving of the vehicle is clicked.

[0160] Understandably, in practice, after a vehicle leaves the target parking space and travels towards its destination, one or more of the aforementioned pick-up points can be set as transit points for this trip.

[0161] When a vehicle is parked using existing valet parking or memory parking functions, it cannot temporarily stop while moving towards the target parking space. The parking method provided in this application allows the vehicle to be temporarily stopped at any location required by the user, facilitating the user's exit and reducing commuting time. After the need for temporary stopping is resolved, the vehicle can autonomously continue parking towards the target space, improving parking efficiency and user convenience, thus enhancing the user's driving experience.

[0162] 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.

[0163] The methods provided by the embodiments of this application have been described in detail above with reference to Figures 1 to 13. The apparatus provided by the embodiments of this application will now be described in detail below with reference to Figures 14 and 15. It should be understood that the descriptions of the apparatus embodiments correspond to the descriptions of the method embodiments; therefore, any content not described in detail can be found in the above method embodiments, and for the sake of brevity, will not be repeated here.

[0164] Figure 14 shows a schematic block diagram of a parking device 2000 provided in an embodiment of this application. The device 2000 may include units for executing the embodiments described in the foregoing method. Furthermore, each unit in the device 2000 implements a corresponding process 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 device 2000 also includes a processing unit 2020, which can be used to implement corresponding processing functions.

[0165] Optionally, the device 2000 further includes a storage unit, which can be used to store instructions and / or data. The processing unit 2020 can read the instructions and / or data in the storage unit so that the device can perform the relevant actions in the aforementioned method embodiments.

[0166] 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.

[0167] 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.

[0168] The apparatuses described above have the function of implementing the corresponding steps in the methods described above. These functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above; for example, the acquisition unit 2010 can be replaced by a transceiver, and other units, such as the processing unit, can be replaced by a processor, used to execute the relevant processing operations in each method embodiment.

[0169] Exemplarily, the acquisition unit 2010 and processing unit 2020 can be disposed in the vehicle 100 shown in FIG. 1, or they can also be disposed in the system shown in FIG. 2. More specifically, the acquisition unit 2010 and processing unit 2020 can be disposed in the display control module 220. Exemplarily, the operations performed by the acquisition unit 2010 and 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 vehicle 100 shown in FIG. 1; or, the device 2000 can be a chip disposed in the vehicle 100.

[0170] 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).

[0171] Figure 15 is another schematic block diagram of the parking device provided in an embodiment of this application. The device 2100 shown in Figure 15 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.

[0172] 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.

[0173] 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).

[0174] Transceiver 2120 uses transceiver devices, such as but not limited to transceivers, to enable communication between device 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above embodiments.

[0175] This application also provides an intelligent driving device, which includes the device 2000 or device 2100 in the above embodiments.

[0176] 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.

[0177] 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.

[0178] This application also provides a chip, including circuitry, for performing the methods described in the above embodiments of this application.

[0179] 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.

[0180] 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.

[0181] 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.

[0182] 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.

[0183] 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.

[0184] 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.

[0185] 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.

[0186] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A parking method, characterized in that, include: During the process of parking a vehicle in the first parking area, waypoint information is obtained. The waypoint information indicates at least one waypoint that the vehicle needs to pass through during the parking process. The first parking area includes the target parking space, and the at least one waypoint includes the first waypoint. The vehicle is controlled to first stop at the first transit point, and then continue to park in the first parking area.

2. The method according to claim 1, characterized in that, The acquisition of waypoint information includes: In response to the user's first operation, determine the first location in the first parking area as the first waypoint; or... When the vehicle sets the first location as a waypoint in its historical journey, the first location is determined to be the first waypoint.

3. The method according to claim 1 or 2, characterized in that, The method further includes: Based on the current location of the vehicle, a first driving path is planned, which sequentially passes through each of the at least one waypoint from the current location; The control of the vehicle to stop at the first path point includes: When the vehicle travels along the first travel path to the first transit point, the vehicle is brought to a stop.

4. The method according to claim 3, characterized in that, The method further includes: In response to the user's second action, the second waypoint is changed to the first waypoint; Furthermore, the first travel path does not pass through the second waypoint; Alternatively, the first travel path passes through the second waypoint, but the vehicle does not stop when it travels along the first travel path to the position corresponding to the second waypoint.

5. The method according to claim 4, characterized in that, The method further includes: A second driving route is planned based on the current location, and the second driving route passes through the second waypoint.

6. The method according to any one of claims 3 to 5, characterized in that, The at least one waypoint further includes a third waypoint, and the method further includes: When or after deleting the third waypoint in response to a user's third operation, a third driving path is planned based on the current location, and the vehicle is controlled to drive along the third driving path; The third driving path does not pass through the third waypoint; Alternatively, the third travel path passes through a third waypoint, but the vehicle does not stop when it travels along the third travel path to the position corresponding to the third waypoint.

7. The method according to any one of claims 3 to 6, characterized in that, The method further includes: Obtain the first location of the target parking space; The step of planning a first driving path, based on the current location of the vehicle, sequentially passing through each of the at least one waypoint, includes: Based on the current location and the first location, a first driving route is planned, and the target location of the first driving route is the first location.

8. The method according to any one of claims 1 to 6, characterized in that, The method further includes: During the process of the vehicle traveling from the last of the at least one waypoints towards the first parking area, or after the vehicle has arrived at the first parking area, information on at least one available parking space within the vehicle's sensing range is acquired, and the vehicle is controlled to park in one of the at least one available parking space; or, During the process of the vehicle traveling from the last of the at least one waypoints to the first parking area, information on at least one available parking space associated with the first parking area is obtained, and the vehicle is controlled to park in one of the at least one available parking space.

9. The method according to any one of claims 1 to 8, characterized in that, The distance between each of the at least one waypoints and the target parking space is greater than or equal to a first distance threshold.

10. The method according to any one of claims 1 to 9, characterized in that, The vehicle parking in the first parking area includes: The vehicle parks in the first parking area under the first parking function; The first parking function is either valet parking or memory parking.

11. The method according to any one of claims 1 to 10, characterized in that, The control of the vehicle to first stop at the first transit point and then continue parking towards the first parking area includes: After the vehicle comes to a stop at the first transit point, when the vehicle meets the first condition, the vehicle is controlled to continue parking towards the first parking area.

12. The method according to claim 11, characterized in that, The first condition includes at least one of the following: A first instruction is received from a first electronic device associated with the vehicle, the first instruction instructing continued parking; An input to a first component of the vehicle is detected, the first component being used to control the vehicle to enter a driving state; The driver of the vehicle has left the vehicle and all the doors of the vehicle are closed; or, The distance between the second electronic device and / or the vehicle key and the vehicle is greater than or equal to a second distance threshold.

13. The method according to any one of claims 1 to 12, characterized in that, The method further includes: When the vehicle travels from the target parking space to the first transit point, the vehicle is brought to a stop. Upon receiving a second instruction instructing the vehicle to continue driving, control the vehicle to continue driving towards the destination.

14. A parking device, characterized in that, include: The acquisition unit is used to acquire waypoint information during the process of a vehicle parking in a first parking area. The waypoint information indicates at least one waypoint that the vehicle needs to pass through during the parking process. The first parking area includes a target parking space, and the at least one waypoint includes a first waypoint. The processing unit is used to control the vehicle to first stop at the first waypoint, and then continue to park in the first parking area.

15. The apparatus according to claim 14, characterized in that, The device further includes a determining unit for: In response to the user's first operation, determine the first location in the first parking area as the first waypoint; or... When the vehicle sets the first location as a waypoint in its historical journey, the first location is determined to be the first waypoint.

16. The apparatus according to claim 14 or 15, characterized in that, The processing unit is also used for: Based on the current location of the vehicle, a first driving path is planned, which sequentially passes through each of the at least one waypoint from the current location; The control of the vehicle to stop at the first path point includes: When the vehicle travels along the first travel path to the first transit point, the vehicle is brought to a stop.

17. The apparatus according to claim 16, characterized in that, The processing unit is also used for: In response to the user's second action, the second waypoint is changed to the first waypoint; Furthermore, the first travel path does not pass through the second waypoint; Alternatively, the first travel path passes through the second waypoint, but the vehicle does not stop when it travels along the first travel path to the position corresponding to the second waypoint.

18. The apparatus according to claim 17, characterized in that, The processing unit is also used for: A second driving route is planned based on the current location, and the second driving route passes through the second waypoint.

19. The apparatus according to any one of claims 16 to 18, characterized in that, The at least one waypoint further includes a third waypoint, and the processing unit is further configured to: When or after deleting the third waypoint in response to a user's third operation, a third driving path is planned based on the current location, and the vehicle is controlled to drive along the third driving path; The third driving path does not pass through the third waypoint; Alternatively, the third travel path passes through a third waypoint, but the vehicle does not stop when it travels along the third travel path to the position corresponding to the third waypoint.

20. The apparatus according to any one of claims 16 to 19, characterized in that, The acquisition unit is also used for: Obtain the first location of the target parking space; The processing unit is used for: Based on the current location and the first location, a first driving route is planned, and the target location of the first driving route is the first location.

21. The apparatus according to any one of claims 14 to 19, characterized in that, The acquisition unit is configured to: acquire information on at least one available parking space within the vehicle's perception range during the process of the vehicle traveling from the last of the at least one waypoints to the first parking area, or after the vehicle has arrived at the first parking area; the processing unit is configured to: control the vehicle to park in one of the at least one available parking space; or... The acquisition unit is used to: acquire information on at least one empty parking space associated with the first parking area during the process of the vehicle traveling from the last of the at least one waypoints to the first parking area; the processing unit is used to: control the vehicle to park in one of the at least one empty parking space.

22. The apparatus according to any one of claims 14 to 21, characterized in that, The distance between each of the at least one waypoints and the target parking space is greater than or equal to a first distance threshold.

23. The apparatus according to any one of claims 14 to 22, characterized in that, The vehicle parking in the first parking area includes: The vehicle parks in the first parking area under the first parking function; The first parking function is either valet parking or memory parking.

24. The apparatus according to any one of claims 14 to 23, characterized in that, The processing unit is used for: After the vehicle comes to a stop at the first transit point, when the vehicle meets the first condition, the vehicle is controlled to continue parking towards the first parking area.

25. The apparatus according to claim 24, characterized in that, The first condition includes at least one of the following: A first instruction is received from a first electronic device associated with the vehicle, the first instruction instructing continued parking; An input to a first component of the vehicle is detected, the first component being used to control the vehicle to enter a driving state; The driver of the vehicle has left the vehicle and all the doors of the vehicle are closed; or, The distance between the second electronic device and / or the vehicle key and the vehicle is greater than or equal to a second distance threshold.

26. The apparatus according to any one of claims 14 to 25, characterized in that, The processing unit is also used for: When the vehicle travels from the target parking space to the first transit point, the vehicle is brought to a stop. Upon receiving a second instruction instructing the vehicle to continue driving, control the vehicle to continue driving towards the destination.

27. A parking device, characterized in that, include: A processor for executing a computer program stored in memory to cause the apparatus to perform the method as described in any one of claims 1 to 13.

28. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, implement the method as described in any one of claims 1 to 13.

29. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 13.

30. 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 13.

31. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 14 to 27, or the computer-readable storage medium as described in claim 28, or the chip as described in claim 29, or the vehicle is equipped with the computer program product as described in claim 30.

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