CN111746503A

CN111746503A - Parking method, system, device, vehicle and computer readable storage medium

Info

Publication number: CN111746503A
Application number: CN201910236358.7A
Authority: CN
Inventors: 黄孝康; 沈玉杰
Original assignee: Shanghai OFilm Smart Car Technology Co Ltd; Shanghai East China Automotive Information Technology Co Ltd
Current assignee: Shanghai Ofilm Intelligent Vehicle Co ltd
Priority date: 2019-03-27
Filing date: 2019-03-27
Publication date: 2020-10-09
Anticipated expiration: 2039-03-27
Also published as: CN111746503B

Abstract

The invention discloses a parking method, a parking system, parking equipment, a vehicle and a computer-readable storage medium. The parking method comprises the steps that after a parking instruction sent by the mobile terminal is received through the communication interface, first environment information of the external environment of the vehicle is collected through the imaging module, second environment information of the external environment of the vehicle is collected through the detection module, and the first environment information and the second environment information are transmitted to the mobile terminal through the communication interface in real time; analyzing the first environmental information and the second environmental information to obtain a target parking space meeting preset requirements; planning a parking path for parking the vehicle to the target parking space according to the first environment information and the second environment information; and controlling the vehicle to park to the target parking space according to the parking path. Therefore, when parking, a user can get off the vehicle and then send out a parking instruction through the mobile terminal, so that the vehicle can be automatically parked to the target parking space, and the problem that the driver is difficult to enter and exit when the vehicle enters and exits the garage is avoided when parking.

Description

Parking method, system, device, vehicle and computer readable storage medium

Technical Field

The invention relates to the technical field of intelligent vehicles, in particular to a parking method, a parking system, parking equipment, a parking vehicle and a computer-readable storage medium.

Background

Along with the more and more automobile holding amount, parking stall is more and more nervous, and effective space when parking is littleer and more, often can meet various troubles when the car is got to the parking. For example, a narrow parking space is difficult for a novice or poorly parking driver to park; or a narrow parking space is parked, but the driver is difficult to get out of the vehicle, and when the driver wants to go out of the garage, the driver can encounter a nearby vehicle close to the vehicle and find that the driver can not enter the vehicle.

Disclosure of Invention

The embodiment of the invention provides a parking method, a parking system, parking equipment, a parking vehicle and a computer-readable storage medium.

In a first aspect, an embodiment of the present invention provides a parking method, including

After a parking instruction sent by a mobile terminal is received through a communication interface, acquiring first environment information of an external environment of a vehicle by using an imaging module and second environment information of the external environment of the vehicle by using a detection module, and transmitting the first environment information and the second environment information to the mobile terminal in real time through the communication interface;

analyzing the first environmental information and the second environmental information to obtain a target parking space meeting preset requirements;

planning a parking path for parking the vehicle to the target parking space according to the first environment information and the second environment information;

and controlling the vehicle to park to the target parking space according to the parking path.

According to the technical scheme of the embodiment of the invention, after a parking instruction sent by the mobile terminal is received, the imaging module and the detection module are used for obtaining the environment information of the external environment of the vehicle and transmitting the environment information to the mobile terminal, the vehicle can also find a target parking space according to the environment information and automatically park to the target parking space according to a target path planned by the equipment through the equipment, so that a user can get off the vehicle when parking, then the mobile terminal sends the parking instruction to automatically park the vehicle to the target parking space, automatic parking is realized, the user can also monitor the parking process of the vehicle through the mobile terminal outside the vehicle, and the problem that the driver is difficult to get in and out when the vehicle is parked in and out of a garage is avoided. And the environment information is obtained by fusing the detection module and the imaging module, so that the target parking space and the parking path obtained according to the environment information are more accurate, and the automatic parking process is safer and more reliable.

In some embodiments, the transmitting the first environmental information and the second environmental information to the mobile terminal in real time includes:

analyzing the first environment information to obtain a first all-round view scene image containing the external environment and the vehicle;

adjusting the first all-round view scene image according to the second environment information to obtain a second all-round view scene image;

and sending the second ring view image to the mobile terminal.

Therefore, the second surrounding scene image fused with the first environment information and the second environment information is sent to the mobile terminal, so that the obstacles are clearer and clearer in the scene image seen by the user through the mobile terminal, the user can see the obstacles in the external environment from the second surrounding scene image more intuitively and clearly, and the automatic parking process can be better monitored.

In some embodiments, the parking method comprises:

receiving a user-intended parking position selected by a user in the second ring view image displayed by the mobile terminal;

the analyzing the first environmental information and the second environmental information to obtain a target parking space meeting a preset requirement includes:

analyzing the first environmental information and the second environmental information to confirm whether an intended parking space where the user intended parking position is located meets the preset requirement;

and when the user intention parking position meets the preset requirement, taking the user intention parking position as the target parking space.

Therefore, the target parking space can be selected by the user, the user can select the own private parking space when parking, and the user can select the more appropriate target parking space when a plurality of target parking spaces meet the preset requirements in the external environment, so that the parking process is more controllable and more reasonable.

In some embodiments, the parking method further comprises:

judging whether the external environment has a historical intentional parking position selected by the user according to the first environmental information and the second environmental information;

when the historical intentional parking position exists in the external environment, the historical intentional parking position is used as an intentional parking position of a user;

when the historical intentional parking position does not exist in the external environment, sending an intentional parking position selection request to the mobile terminal so that a user selects the user intentional parking position in the second ring view image displayed by the mobile terminal.

In this way, when the external environment of the vehicle to be parked later includes the parking position intended by the user after the user selects the parking position intended by the user once, the parking system automatically identifies the parking position intended by the user without the user selecting the parking position intended by the user again.

In some embodiments, the analyzing the first environmental information and the second environmental information to extract a target parking space meeting a preset requirement includes:

analyzing the first environment information to judge whether a first vacant parking space meeting a first preset requirement exists in the external environment;

when the first vacant parking space exists, taking the first vacant parking space as the target parking space;

when the first vacant parking space does not exist, analyzing the second environment information to judge whether a second vacant parking space meeting a second preset requirement exists in the external environment;

and when the second vacant parking space exists, taking the second vacant parking space as the target parking space.

Like this when can't seek first vacant parking stall according to the first environmental information that the imaging module gathered, the second environmental information that the accessible analysis was surveyed the module and is gathered seeks the vacant parking stall of second, and the process of seeking target parking stall is more intelligent.

In some embodiments, said taking said first vacant slot as said target parking space when said first vacant slot exists comprises:

when the first vacant parking space exists, analyzing the second environment information to judge whether the first vacant parking space meets a second preset requirement;

and when the first vacant parking space meets the second preset requirement, taking the first vacant parking space as a target parking space.

So, the target parking stall that obtains has combined the first environmental information that the imaging module gathered and the second environmental information that surveys the module and gather, accords with first preset requirement and second preset requirement, and the target parking stall of choosing like this is more accurate, helps avoiding leading to the fact the parking accident because of the barrier that can't discern being in the liftoff state according to first environmental information, the barrier that is close with ground colour or other barriers that can't discern through image analysis.

In some embodiments, said planning a parking path for parking the vehicle to the target parking space according to the first environmental information and the second environmental information comprises:

determining a parking mode of the vehicle according to the first environment information and the second environment information, wherein the parking mode comprises any one of horizontal parking, vertical parking and inclined parking;

and planning a parking path from the vehicle to the target parking space according to the target parking mode. Therefore, the parking mode is determined according to the environment information, and the parking path is planned according to the parking mode, so that the parking path is more reasonable to plan and better adapts to the actual environment around the vehicle.

In some embodiments, said controlling said vehicle to park in said target parking space according to said parking path comprises:

judging whether an obstacle exists in the parking path according to the first environment information and the second environment information;

when an obstacle exists in the parking path, acquiring position information of the obstacle and adjusting the parking path according to the position information of the obstacle;

and controlling the vehicle to drive to the target parking space according to the adjusted parking path.

Therefore, when the obstacle exists in the parking path, the parking path is adjusted in time according to the position information of the obstacle, and the vehicle is controlled to run to the target parking space according to the adjusted parking path, so that the vehicle can be prevented from colliding with the obstacle suddenly appearing in the parking path, and the safety in the parking process is improved.

controlling the vehicle to run according to the parking path;

when a parking instruction sent by the mobile terminal is received, controlling the vehicle to stop running and analyzing the parking instruction, and judging whether the parking instruction contains obstacle position information or not;

when the parking instruction comprises the position information of the obstacle, adjusting the parking path according to the position information of the obstacle;

and when a continuous parking instruction sent by the mobile terminal is received, controlling the vehicle to drive to the target parking space according to the adjusted parking path.

In the parking process, when a user finds that the parking path has an obstacle, the obstacle position information and the parking instruction can be sent to the parking system, and the parking system adjusts the parking path in time according to the obstacle position information and controls the vehicle to drive to the target parking space according to the adjusted parking path. In this way, the safety of the parking process is further prompted.

In some embodiments, the imaging module acquires first environmental information of a first region in the external environment, the detection module acquires second environmental information of a second region in the external environment,

the second area covers the first area and is larger than the first area; or

The second area is independent from the first area, and the distance from the second area to the vehicle is larger than that from the first area to the vehicle.

So, the detection module can gather the wider environmental information of scope, fuses the data that the imaging module was gathered with the detection module like this, can obtain the environmental information in more external environment more accurately.

In some embodiments, the imaging module comprises any one or more of a common camera, a panoramic camera, a monocular camera, a binocular camera and a hyperspectral camera.

In some embodiments, the detection module comprises any one or more of an ultrasonic sensor, a lidar, and a millimeter wave radar.

In some embodiments, the control instruction signal is transmitted between the communication interface and the mobile terminal by means of bluetooth transmission, and the image data is transmitted between the communication interface and the mobile terminal by means of WiFi transmission, where the image data includes the first environment information and the second environment information.

Therefore, the control instruction and the image data are transmitted in different modes and are mutually independent, when the image data cannot be transmitted, the transmission of the control instruction cannot be influenced, for example, when wifi cannot be used suddenly in the parking process, a user can send a parking stopping instruction to a parking system by using the mobile terminal in a Bluetooth transmission mode, so that the parking process is more controllable, and the parking safety is improved.

In a second aspect, an embodiment of the present invention further provides a parking system, including:

the information acquisition module is used for acquiring first environment information of an external environment of a vehicle by using an imaging module and second environment information of the external environment of the vehicle by using a detection module after receiving a parking instruction sent by a mobile terminal through a communication interface, and transmitting the first environment information and the second environment information to the mobile terminal in real time through the communication interface;

the parking space acquisition module is used for analyzing the first environmental information and the second environmental information to obtain a target parking space meeting preset requirements;

a path planning module, configured to plan a parking path for parking the vehicle to the target parking space according to the first environment information and the second environment information;

and the parking control module is used for controlling the vehicle to park to the target parking space according to the parking path.

In certain embodiments, the information acquisition module comprises:

an image generating unit, configured to analyze the first environment information to obtain a first all-round view scene image including the external environment and the vehicle;

the image adjusting unit is used for adjusting the first environment scene image according to the second environment information to obtain a second environment scene image;

and the image sending unit is used for sending the second ring view scene image to the mobile terminal.

In some embodiments, the parking system includes:

the signal receiving module is used for receiving a user-intended parking position selected by a user in the second surrounding view image displayed by the mobile terminal;

the parking space acquisition module comprises:

the first analysis unit is used for analyzing the first environmental information and the second environmental information to confirm whether an intended parking space where the user intended parking position is located meets the preset requirement or not;

and the first parking space acquisition unit is used for taking the user intention parking position as the target parking space when the user intention parking position meets the preset requirement.

In some embodiments, the parking system includes:

the judging module is used for judging whether the external environment has a historical intentional parking position selected by the user according to the first environment information and the second environment information;

the execution module is used for taking the historical intentional parking position as a user intentional parking position when the historical intentional parking position exists in the external environment;

a request instruction sending module, configured to send a parking-position-intended selection request to the mobile terminal when the historical parking position does not exist in the external environment, so that a user selects a parking position intended by the user in the second ring-view image displayed by the mobile terminal.

In some embodiments, the parking space acquiring module includes:

the second analysis unit is used for analyzing the first environment information and judging whether a first vacant parking space meeting a first preset requirement exists in the external environment;

a second parking space obtaining unit, configured to, when the first vacant parking space exists, use the first vacant parking space as the target parking space;

the third analysis unit is used for analyzing the second environment information to judge whether a second vacant parking space meeting a second preset requirement exists in the external environment when the first vacant parking space does not exist;

and the third parking space acquisition unit is used for taking the second vacant parking space as the target parking space when the second vacant parking space exists.

In some embodiments, the second bit acquisition unit comprises:

the analysis subunit is used for analyzing the second environmental information to judge whether the first vacant parking space meets the second preset requirement or not when the first vacant parking space exists;

and the parking space acquisition subunit is used for taking the first vacant parking space as a target parking space when the first vacant parking space meets the second preset requirement.

In some embodiments, the path planning module is configured to determine a parking mode of the vehicle according to the first environment information and the second environment information, where the parking mode includes any one of horizontal parking, vertical parking, and inclined parking; and

and planning a parking path from the vehicle to the target parking space according to the target parking mode.

In some embodiments, the parking control module comprises:

the second judgment unit is used for judging whether an obstacle exists in the parking path according to the first environment information and the second environment information;

the parking system comprises an obstacle obtaining unit, a parking path adjusting unit and a parking control unit, wherein the obstacle obtaining unit is used for obtaining the position information of an obstacle and adjusting the parking path according to the position information of the obstacle when the obstacle exists in the parking path;

and the second parking control unit is used for controlling the vehicle to drive to the target parking space according to the adjusted parking path.

In some embodiments, the parking control module comprises:

the third parking control unit is used for controlling the vehicle to run according to the parking path;

the third judgment unit is used for controlling the vehicle to stop running and analyzing the parking instruction when receiving the parking instruction sent by the mobile terminal, and judging whether the parking instruction contains obstacle position information or not;

the parking path adjusting unit is used for adjusting the parking path according to the position information of the obstacle when the parking instruction contains the position information of the obstacle;

and the fourth parking control unit is used for controlling the vehicle to drive to the target parking space according to the adjusted parking path when receiving the continuous parking instruction sent by the mobile terminal.

the second area covers the first area and is larger than the first area; or

The technical effects achieved by the embodiments of the parking system correspond to those of the parking method, and are not described herein again to avoid redundancy.

In a third aspect, embodiments of the present invention also provide an apparatus, including a processor, a memory, a communication interface, and one or more programs, stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps in the parking method according to any one of the above.

The technical effect achieved when the device executes the steps in the parking method corresponds to the parking method, and is not described herein again to avoid redundancy.

In a fourth aspect, an embodiment of the present invention further provides a vehicle, including:

a vehicle body; and

the apparatus described above or the parking system described in any of the above embodiments, wherein said apparatus or said parking system is installed inside said vehicle body.

The technical effect achieved by the vehicle corresponds to the above-mentioned equipment, and is not described here again to avoid redundancy.

In a fifth aspect, the present invention also provides a computer-readable storage medium containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the method of parking according to any of the embodiments described above.

The technical effect achieved when the computer executable instruction is executed corresponds to the parking method, and is not described herein again to avoid redundancy.

Drawings

Some drawings to which embodiments of the present invention relate will be described below.

FIG. 1 is a diagram of a hardware configuration of an apparatus according to an embodiment of the present invention;

fig. 2, 8, 10, 12, 14, 16, 18, 20 and 22 are schematic flow charts of a parking method according to an exemplary embodiment of the present invention;

FIG. 3 is a schematic diagram of a parking path involved in the parking method according to the embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating a parking phase involved in the parking method of the embodiment of the present invention;

FIGS. 5, 9, 11, 13, 15, 17, 19, 21 and 23 are block schematic diagrams of a parking system in accordance with an embodiment of the present invention;

fig. 6 is a schematic diagram of a terminal interface involved in the parking method according to the embodiment of the present invention;

FIG. 7 is a schematic diagram illustrating a scenario of a pull-out phase involved in the parking method of the embodiment of the present invention;

fig. 24 is a schematic diagram of the connection between the computer-readable storage medium and the processor according to the embodiment of the present invention.

Detailed Description

The embodiments of the present invention will be described below with reference to the drawings.

Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of an apparatus 100 according to an embodiment of the present invention. The apparatus 100 includes a processor 101, a memory 102, a communication interface 103, and one or more programs stored in the memory 102 and configured to be executed by the processor 101, the programs including instructions for the steps of the parking method of any of the following embodiments. The device 100 may be a server device or a terminal device, such as a vehicle controller (ECU). The memory 102 may be a high-speed RAM memory, or may be a non-volatile memory (e.g., a disk memory), and the memory 102 may optionally be a storage device independent of the processor 101. The communication interface 103 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface).

The embodiment of the invention also provides a vehicle, which comprises a vehicle body and the equipment 100, wherein the equipment 100 is installed inside the vehicle body.

The method of the embodiment of the invention can be used for automatic parking of the vehicle. The parking method according to the embodiment of the present invention may be implemented by the apparatus according to the embodiment of the present invention, may be implemented by the parking system 300 according to the embodiment of the present invention, and may also be implemented by the apparatus according to the embodiment of the present invention operating the parking system 300 according to the embodiment of the present invention. The device may be, for example, a control device, such as a vehicle controller (ECU), that may be used to control the vehicle. The device may communicate wirelessly with the mobile terminal via the communication interface 103.

Referring to fig. 2, fig. 2 is a schematic flow chart of a parking method according to an embodiment of the present invention, which may include, but is not limited to, the following steps:

21. after receiving a parking instruction sent by a mobile terminal through a communication interface 103, acquiring first environment information of an external environment of a vehicle by using an imaging module and second environment information of the external environment of the vehicle by using a detection module, and transmitting the first environment information and the second environment information to the mobile terminal in real time through the communication interface 103;

in the embodiment of the present invention, the device is a vehicle controller, and the communication interface 103 and the mobile terminal may be connected through bluetooth and WIFI. The communication interface 103 transmits control command signals, such as parking commands, to the mobile terminal by means of bluetooth transmission. The communication interface 103 transmits image data including, but not limited to, the first environment information and the second environment information to the mobile terminal through WiFi transmission. Preferably, the parking method of the embodiment is used for automatic parking at a short distance, that is, the mobile terminal sends a parking instruction to the vehicle at a short distance, for example, within 10 m. Of course, the communication method between the device and the mobile terminal is not limited to the above method, and in other embodiments, other communication methods may also be adopted, which are not limited herein.

The imaging module can include one or more cameras, and the camera can be any one or more in ordinary camera, panorama camera, monocular camera, binocular camera, high spectrum camera for example. In the embodiment of the invention, the imaging module comprises the panoramic cameras, the 4 panoramic cameras are respectively arranged on the four sides of the vehicle body of the vehicle, and the 4 panoramic cameras can be used for shooting the environmental information of the external environment on the 4 sides of the vehicle body and can be combined with the shape and size information of the vehicle to obtain the panoramic scene image containing the vehicle and the external environment. The acquisition of the first environment information of the external environment of the vehicle by using the imaging module can be understood as that the parking system 300 controls the plurality of cameras to shoot scene images outside the vehicle, and the scene images shot by the plurality of cameras are used as the first environment information.

The detection module comprises any one or more of an ultrasonic sensor, a laser radar and a millimeter wave radar. In the embodiment of the invention, the detection module comprises ultrasonic sensors, and 4 ultrasonic sensors can be respectively arranged on two side edges of a front bumper and a rear bumper of a vehicle. Through the environmental information of the external environment around the ultrasonic wave response vehicle, survey the module through towards the outside transmission ultrasonic wave of vehicle and receive the ultrasonic signal through the object reflection of external environment to obtain the environmental information of external environment and regard as second environmental information according to the ultrasonic signal of reflection. Specifically, an ultrasound image may be formed from the reflected ultrasound signal as the second environment information. Of course, the detection module is not limited to the ultrasonic sensor, and in other embodiments, other detection modules having the function of acquiring the environmental information may be used, for example, a laser radar, a millimeter wave radar, etc.

The first region in the external environment that the first environmental information that the formation of image module gathered corresponds and the second region in the external environment that the second environmental information that the detection module gathered corresponds can be the same also can be different. Because the detection module can acquire the environmental information of farther distance, the first region in the external environment that the second environmental information corresponds can cover and be greater than the second region in the external environment that first environmental information corresponds so, and the region that the second environmental information that the detection module gathered corresponds is bigger like this to can gather more environmental information. Or the second area is independent from the first area, the distance from the second area to the vehicle is greater than the distance from the first area to the vehicle, namely the ranges of the second area and the first area are independent, the first area is closer to the vehicle as a whole, and the second area is farther from the vehicle as a whole, so that the first environment information contains environment information of an external environment at a relatively close distance, and the second environment information contains environment information of an external environment at a relatively far distance.

When the imaging module collects first environment information of a first area in an external environment, the imaging module can be adjusted to enable the field range of the imaging module to cover the first area, and the imaging module is used for directly shooting the first environment information; other devices capable of reflecting the first environment information of the first area can be indirectly shot to collect the first environment information, for example, a vibration amplification device can be shot to obtain the first environment information, the vibration amplification device is installed on the outer surface of the vehicle body, and the vibration amplifier can sense the vibration of the first area and reflect the first environment information by amplifying the vibration.

22. Analyzing the first environmental information and the second environmental information to obtain a target parking space meeting preset requirements;

in this embodiment, the first environment information is a scene image captured by the camera, the scene image may be processed, a parking space line in the scene image is extracted, one or more parking spaces to be selected are obtained, then the scene image and an ultrasonic signal reflected by an object in an external environment are further analyzed, obstacle information in an area where the parking space to be selected is located is obtained, whether the parking space to be selected meets a preset requirement is determined according to the obstacle information in a sequence from near to far, and the parking space to be selected meeting the preset requirement is used as a target parking space. The preset requirement may be, for example, but not limited to, set according to the position of the obstacle, the height of the obstacle, the distance between the obstacles, and the like. The preset requirement may be set when the device leaves a factory, or may be set by a designer of the vehicle according to a structural parameter of the vehicle, or may be set by a user. When a plurality of parking spaces meeting the preset requirement exist, one parking space closest to the current position of the vehicle can be selected as the target parking space.

The first environmental information and the second environmental information both contain environmental information of external environments around the vehicle, and when the first environmental information and the second environmental information are analyzed to obtain the target parking space, only the portions of the environmental information of the external environments on both sides of the vehicle in the first environmental information and the second environmental information can be analyzed. This can reduce the data processing amount, so that the target parking space can be found more quickly.

23. Planning a parking path for parking the vehicle to the target parking space according to the first environment information and the second environment information;

and after the target parking space is obtained, obtaining obstacle information in the external environment of the vehicle from the first environment information and the second environment information, and then planning a parking path for parking the vehicle to the target parking space according to the obstacle information, the position of the target parking space and the structure and the external dimension of the vehicle.

When determining a parking path, determining a parking mode of the vehicle according to the first environment information and the second environment information, wherein the parking mode includes any one of horizontal parking, vertical parking and inclined parking; and then planning a parking path of the vehicle to the target parking space according to the target parking mode. Specifically, obstacle information around the target parking space may be determined from the first environment information and the second environment information, an accessible direction of the target parking space may be determined from the obstacle information around the target parking space, and then a parking mode of the vehicle may be determined from an angle range in which a relative angle between a current posture of the vehicle and the accessible direction of the target parking space is located. For example, the angle ranges corresponding to the vertical parking are [60 °, 120 ° ], the angle ranges corresponding to the horizontal parking are [0 °, 30 ° ] and [150 °, 180 ° ], the angle ranges corresponding to the oblique parking are (30 °, 60 °) and (120 °, 150 °), and if the relative angle between the current attitude and the accessible direction of the target parking space is 12 °, the angle range corresponding to the relative angle is within the angle range corresponding to the horizontal parking, the parking mode of the vehicle is determined as the horizontal parking, and the parking path is planned in the horizontal parking mode.

Referring to fig. 3, in an alternative embodiment, the parking path may be divided into a driving sub-path S1 driving to a position close to the target parking space, a first steering sub-path S2 for parking the vehicle into the target parking space after the parking space is close to the target parking space, a straight sub-path S3, and a second steering sub-path S4, the first steering sub-path S2 is connected to the driving sub-path S1, the straight sub-path S3 is connected to and tangent to the first steering sub-path S2, the second steering sub-path S4 is connected to the straight sub-path S3 and opposite to the steering direction of the first steering sub-path S2, the starting point of the driving sub-path S1 is a parking starting point of the vehicle, and the driving sub-path S1, the first steering sub-path S2, the straight sub-path S3, and the second steering sub-path S4 are sequentially connected. The starting point P1 of the first steering sub-path S2 and the end point P4 of the second steering sub-path S4 may be determined according to the minimum turning radius of the vehicle, the position and size of the target parking space, and the structure of the vehicle itself, and then the starting point P1 of the first steering sub-path S2 may be used as the end point of the driving sub-path S1, a driving sub-path for the vehicle to drive from the current position to the starting point P1 of the first steering sub-path S2 may be planned in combination with the obstacle information, and the starting point P2 of the straight sub-path S3 and the starting point P3 of the second steering sub-path S4, the turning radius R1 of the first steering sub-path S2, and the turning radius R2 of the second steering sub-path S4 may be determined according to the minimum turning radius and the obstacle information. The starting point of the driving sub-path S1 is the current position of the vehicle, and then the driving sub-path S1, the first steering sub-path S2, the straight sub-path S3 and the second steering sub-path S4 are connected in sequence to form a parking path.

24. And controlling the vehicle to park to the target parking space according to the parking path.

After the parking path is obtained, the parking system 300 may control the power system of the vehicle to enable the vehicle to travel to the target parking space according to the parking path. From the above, the parking path includes a plurality of parking sub-paths connected in series, for example, the parking sub-paths may include, but are not limited to, a travel sub-path S1, a first steering sub-path S2, a straight sub-path S3, and a second steering sub-path S4. The method comprises the steps of setting a corresponding driving mode for each parking sub-path by simulating the driving habits of human beings to control the vehicle to drive, and controlling the vehicle to drive according to the driving mode corresponding to the parking sub-path after the current parking sub-path of the vehicle is obtained until the vehicle reaches the target parking space. Thereby realizing automatic parking. As shown in fig. 4, in one example, after the target parking space is found and the parking path is planned, controlling the vehicle to park in the target parking space according to the parking path includes at least four stages. Adjusting the posture of the vehicle to enable the vehicle to be parallel to the target parking space, and controlling the vehicle to move to the position P1 according to the driving sub-path S1; then, entering a stage II, controlling the vehicle to steer towards the target parking space, keeping the steering angle, and enabling the vehicle to drive to the position P2 according to the first steering sub-path S2; and controlling the vehicle to run straight to the P3 according to the straight sub-path S3, then entering a stage three, controlling the vehicle to turn in the direction opposite to the target parking space, keeping the steering angle, enabling the vehicle to run to the P4 according to the second turning sub-path S4, then entering a stage four, controlling the vehicle to move in the parking space, and adjusting the parking posture. It is understood that in the embodiment of fig. 4, the parking mode is parallel parking, and when the parking mode is vertical parking or inclined parking, at least the four stages are included.

The vehicle travels from the parking start position to P1 according to the travel sub-path S1, and when the vehicle is located at P1, the vehicle tail is closer to the headway target parking space. After the vehicle attitude is adjusted at stage one so that the vehicle can be kept parallel to the target parking space, the vehicle can be driven to P1 by controlling the vehicle to go straight forward or straight backward. The distance of P1 from the parking space in this embodiment is about 0.5 m.

The target parking space may be determined by the parking system according to the size of the vehicle and the first and second environmental information, and the edge of the target parking space is a virtual edge line determined by the parking system according to the size of the vehicle and the first and second environmental information. And after the vehicle runs to P4, adjusting the parking posture, and when the angle between the length direction of the vehicle and the edge line of the length direction of the target parking space is less than 3 degrees and the distance between the front wheel and the rear wheel of the vehicle and the front edge line and the rear edge line of the target parking space is 25cm +/-10 cm, judging that the parking is finished and finishing the parking.

It can be understood that, in the embodiment of the present invention, after receiving the parking instruction sent by the mobile terminal, until the vehicle is parked in the target parking space, the imaging module is used to acquire the first environment information of the external environment of the vehicle in real time and the detection module is used to acquire the second environment information of the external environment of the vehicle in real time, and the first environment information and the second environment information are transmitted to the mobile terminal in real time, so that in the whole parking process, a user can acquire the first environment information and the second environment information in real time through the mobile terminal, that is, can view the environment around the vehicle in real time, and thus the user can monitor the parking process of the vehicle in real time through the mobile terminal outside the vehicle.

According to the technical scheme of the embodiment of the invention, after the parking instruction sent by the mobile terminal is received, the imaging module and the detection module are used for acquiring the environment information of the external environment of the vehicle and transmitting the environment information to the mobile terminal, the vehicle can also find the target parking space according to the environment information through the parking system 300 and automatically park to the target parking space according to the target path planned by the parking system 300, so that the user can get off the vehicle after driving the vehicle to the vicinity of the target parking space, then the mobile terminal sends the parking instruction to enable the vehicle to automatically park to the target parking space, automatic parking is realized, the user can also monitor the parking process of the vehicle through the mobile terminal outside the vehicle, and the problem that the driver is difficult to enter and exit when the vehicle enters and exits the garage is avoided. And the environment information is obtained by fusing the detection module and the imaging module, so that the target parking space and the parking path obtained according to the environment information are more accurate, and the automatic parking process is safer and more reliable.

Referring to fig. 5, a parking system 300 according to an embodiment of the present invention includes an information obtaining module 31, a parking space obtaining module 32, a path planning module 33, and a parking control module 34. The parking method according to the embodiment of the present invention can be implemented by the parking system 300 according to the embodiment of the present invention. The step 21 is implemented by the information obtaining module 31, the step 22 is implemented by the parking space obtaining module 32, the step 23 is implemented by the path planning module 33, and the step 24 is implemented by the parking control module 34.

That is to say, the information obtaining module 31 is configured to, after receiving a parking instruction sent by the mobile terminal through the communication interface 103, acquire first environment information of an external environment of the vehicle by using the imaging module and second environment information of the external environment of the vehicle by using the detection module, and transmit the first environment information and the second environment information to the mobile terminal in real time through the communication interface 103; the parking space obtaining module 32 is configured to analyze the first environmental information and the second environmental information to obtain a target parking space meeting a preset requirement; the path planning module 33 is configured to plan a parking path for parking the vehicle to the target parking space according to the first environment information and the second environment information; the parking control module 34 is configured to control the vehicle to park to the target parking space according to a parking path.

It should be noted that the explanation and technical effects of the modules of the parking system 300 in the above embodiment correspond to the steps of the parking method, and are not repeated herein to avoid redundancy.

Further, as shown in fig. 6, fig. 6 is an interface displayed by the mobile terminal, and after receiving the parking instruction sent by the mobile terminal, the parking system 300 may send a confirmation request to the mobile terminal to confirm whether the user needs to park. If the user needs to park the vehicle, the user can send a parking confirmation instruction by operating the mobile terminal, and after receiving the parking confirmation instruction sent by the mobile terminal through the communication interface 103, the parking system 300 executes relevant steps for parking the vehicle. Thus, unnecessary troubles caused by the fact that the parking system 300 directly executes the parking instruction when the user mistakenly operates to send the parking instruction can be avoided.

After receiving the confirmation parking instruction, before controlling the vehicle to park to the target parking space according to the parking path, if it is detected that the driver performs a driving action, such as shifting gears, steering wheel or stepping on the accelerator, in which case the driver may temporarily decide to abandon the automatic parking, the parking system prevents the parking system and the driver from simultaneously controlling the vehicle to run at step 24.

In a further embodiment, the parking system also enables automatic parking of the vehicle. The parking instruction may be a park instruction or a park instruction. It is to be understood that when the parking instruction is a parking instruction, performing

steps

22, 23 and 24 may result in parking the vehicle into the target parking space. When the parking instruction is a parking instruction, after the parking instruction of the mobile terminal is received through the Bluetooth, first environment information and second environment information are collected and sent to the mobile terminal through the WiFi, the first environment information and the second environment information are analyzed, whether obstacles exist in a first preset distance in the front of the vehicle and a second preset distance in the rear of the vehicle or not is judged, and whether the distance between the obstacles in the front of the vehicle and the obstacles in the rear of the vehicle is larger than or equal to a third preset distance or not is judged. And when the distance between the obstacles in the front and the rear of the vehicle is greater than or equal to a third preset distance, analyzing the first environmental information and the second environmental information to plan a parking driving route for the vehicle to drive out of the target parking space. And the sum of the first preset distance and the second preset distance is less than or equal to a third preset distance. In one example, the first predetermined distance may be 1.2m, the second predetermined distance may be 1.5m, and the third predetermined distance may be +0.8 m. When an obstacle exists in a first preset distance right in front of the vehicle or an obstacle exists in a first preset distance right behind the vehicle, whether the distance between the obstacles in front of the vehicle and the obstacles in rear of the vehicle is larger than or equal to a third preset distance or not is judged, and if the distance between the obstacles in front of the vehicle and the obstacles in rear of the vehicle is larger than or equal to the third preset distance, the distance between the vehicle and the obstacle right in front of the vehicle is larger than or equal to the first preset distance through controlling the vehicle to move forwards and backwards, and the distance between the vehicle and the obstacle right behind the vehicle is larger than or equal to a second preset distance.

Referring to fig. 7, when planning a parking driving route, an area without obstacles in a preset range outside a target parking space may be divided into a plurality of parking spaces to be selectively parked by analyzing first environmental information and second environmental information, one or more selectable exiting directions without obstacles in a preset distance from each parking space to be selectively parked are obtained according to the first environmental information and the second environmental information, the parking space to be selectively parked corresponding to each selectable exiting direction is used as a selectable parking space, the vehicle is planned to be parked to each selectable parking space according to a minimum turning radius and a vehicle body size of the vehicle, the direction of the vehicle is oriented to a selectable driving route of the selectable exiting direction corresponding to the selectable parking space when the vehicle is driven to the selectable parking space, then driving distances of the selectable driving routes are compared, and the selectable driving route with a minimum driving distance is used as the driving route, and taking the corresponding optional exit direction as a target exit direction, and then controlling the vehicle to travel to the optional parking exit parking place corresponding to the parking exit driving route according to the parking exit driving route and according with the target exit direction.

Specifically, as shown in fig. 7, in one embodiment, after the vehicle is adjusted to be within a first preset distance directly in front of the vehicle, no obstacle is present within a second preset distance directly behind the vehicle, and the distance between the obstacles in front of and behind the vehicle is greater than or equal to a third preset distance, the planning of the parked travelling route is started. In fig. 7, an area without obstacles in a preset area outside the target parking space is divided into A, B, C parking spaces to be selected, and then it can be known through analysis of the first environmental information and the second environmental information that obstacles exist in the a1 direction corresponding to the parking space a to be selected, the B3 direction corresponding to the parking space B to be selected, and the C1 direction corresponding to the parking space C to be selected, but the parking space a to be selected also has two selectable exit directions of a2 and a3, the parking space C to be selected also has two selectable exit directions of B1 and B2, and the parking space C to be selected also has two selectable exit directions of C2 and C3, so that A, B, C can be used as a selectable parking space. Then planning the vehicle to drive to A according to the minimum turning radius and the size of the vehicle body, enabling the vehicle to face towards an optional driving route 1 and an optional driving route 2 when the vehicle drives to A and respectively accords with a2 and a3, planning the vehicle to drive to B and enabling the vehicle to face towards an optional driving route 3 and an optional driving route 4 when the vehicle drives to B and respectively accords with B1 and B2, and enabling the vehicle to drive to C and enabling the vehicle to face towards an optional driving route 5 and an optional driving route 6 when the vehicle drives to C and accords with C2 and C3, then, according to the running distances of the selectable running routes 1, 2, 3, 4, 5 and 6, the selectable running route with the smallest running distance is taken as a parking running route, the corresponding selectable running direction is taken as a target running direction, and then controlling the vehicle to run to a parking optional parking space corresponding to the parking travel route according to the parking travel route and according with the target running-out direction.

And if the parking place to be selected or the selectable driving-out direction is not found, stopping sending the obstacle reminding message to the mobile terminal and executing a related instruction for automatically parking out the vehicle.

Referring to fig. 8, in some embodiments, the transmitting the first environment information and the second environment information to the mobile terminal may include, but is not limited to, the following steps:

211. analyzing the first environment information to obtain a first all-round view scene image containing an external environment and a vehicle;

212. adjusting the first all-round view scene image according to the second environment information to obtain a second all-round view scene image;

213. and sending the second ring view scene image to the mobile terminal.

Referring to fig. 9, in some embodiments, the information acquiring module 31 includes an image generating unit 311, an image adjusting unit 312, and an image sending unit 313. Step 211 is implemented by the image generation unit 311, step 212 is implemented by the image adjustment unit 312, and step 213 is implemented by the image transmission unit 313. That is, the image generating unit 311 is configured to analyze the first environment information to obtain a first all-round view scene image including the external environment and the vehicle; the image adjusting unit 312 is configured to adjust the first surround view scene image according to the second environment information to obtain a second surround view scene image; the image transmitting unit 313 is configured to transmit the second ring view image to the mobile terminal.

In step 211, the first environment information is a scene image captured by the camera, and a panoramic image including the vehicle and the surrounding environment of the vehicle can be formed as a first all-around scene image according to the first environment information and by integrating the structural shape features of the vehicle.

In step 212, the second environment information is an ultrasonic signal reflected by an object in the external environment, and the position, structure and shape of the object in the external environment can be obtained by analyzing the ultrasonic signal, and the first panoramic view image is adjusted accordingly to obtain the second panoramic view image. For example, there may be a case where accurate obstacle information cannot be obtained by analyzing the first surround view scene image due to reasons such as low ambient brightness, a case where the obstacle color is close to the ground color, and a case where the obstacle is located off the ground, however, the ultrasonic waves are not affected by these factors, and the information of the obstacle can be collected more accurately, the first surround view scene image may be adjusted according to the second ambient information, for example, the obstacle color in the first surround view scene image is deepened, the outline of the obstacle is highlighted, the type of the obstacle is marked, and the adjusted image is used as the second scene image.

In step 213, since the user may not be able to intuitively obtain the environment information of the external environment from the first environment information and the second environment information, when the first environment information and the second environment information are transmitted to the mobile terminal, the second environment image may be sent to the mobile terminal after the first environment information and the second environment information are fused in

steps

211 and 212 to obtain the second environment image. The second surrounding scene image fused with the first environment information and the second environment information is sent to the mobile terminal, so that the obstacles are clearer and clearer in the scene image seen by the user through the mobile terminal, the user can see the obstacles in the external environment from the second surrounding scene image more intuitively and clearly, and the automatic parking process can be better monitored.

When a user finds that an obstacle exists in a parking path from the second environment view image, a parking instruction can be sent to the parking system 300 through the mobile terminal, and after the parking system 300 receives the parking instruction, the parking process of the vehicle is controlled to stop, so that when the parking system 300 does not recognize the obstacle according to the first environment information and the second environment information but the user finds the obstacle or the obstacle suddenly appears, the user can also send the parking instruction to stop the vehicle from continuing to run through the mobile terminal, and the safety of the parking process is guaranteed.

Referring to fig. 2, 8 and 10, based on the above embodiment, in a further embodiment, the parking method further includes the steps of:

25. receiving a user intention parking position selected by a user in a second ring view image displayed by the mobile terminal;

step 22 comprises:

221. analyzing the first environmental information and the second environmental information to confirm whether an intended parking space where the user intended parking position is located meets a preset requirement;

222. and when the user intention parking position meets the preset requirement, taking the user intention parking position as a target parking space.

Referring to fig. 11, in some embodiments, the parking system 300 includes the signal receiving module 35, and the parking space obtaining module 32 includes a first analyzing unit 321 and a first parking space obtaining unit 312. Step 25 may be implemented by the signal receiving module 35, step 221 may be implemented by the first analyzing unit 321, and step 222 may be implemented by the first parking space obtaining unit 312. That is, the signal receiving module 35 is configured to receive a user-intended parking position selected by the user in the second surround view image displayed by the mobile terminal; the first analyzing unit 321 is configured to analyze the first environmental information and the second environmental information to determine whether an intended parking space where the user intended parking position is located meets a preset requirement; the first parking space obtaining unit 312 is configured to take the parking position intended by the user as the target parking space when the parking position intended by the user meets the preset requirement.

Step 25 is performed after step 21 and before step 22. After the second ring view image is sent to the mobile terminal, a display screen of the mobile terminal displays the second ring view image, a user can visually see the external environment where the vehicle is located from the second ring view image, and then the user selects the parking position of the parking position which is the intention of the user. In an example, the second ring view image includes images of a plurality of parking spaces, and the user may select a position of a parking space by operating the mobile terminal, for example, the position of the parking space in the second ring view image may be clicked on a touch screen of the mobile terminal as an intended parking position of the user intended parking position.

After receiving the user-intended parking position selected by the user, the parking system 300 obtains an intended parking space where the user-intended parking position is located according to the first environment information, and then analyzes the first environment information and the second environment information to determine whether the intended parking space meets a preset requirement. When the user's intention parking position meets the preset requirement, the user's intention parking position can be used as the target parking space. Therefore, the target parking space can be selected by the user, the user can select the own private parking space when parking, and the user can select the more appropriate target parking space when a plurality of target parking spaces meet the preset requirements in the external environment, so that the parking process is more controllable and more reasonable.

Referring to fig. 12, in a further embodiment based on the above embodiment, the parking method further includes:

26. judging whether the external environment has a historical intentional parking position selected by the user according to the first environmental information and the second environmental information;

27. when the external environment has a historical intention parking position, taking the historical intention parking position as a user intention parking position;

28. and when the external environment has no historical intentional parking position, sending an intentional parking position selection request to the mobile terminal so that the user selects the user intentional parking position in the second ring view image displayed by the mobile terminal.

Referring to fig. 13, in some embodiments, the parking system 300 further includes a determining module 36, an executing module 37, and a request instruction transmitting module 38. Step 26 may be implemented by the determination module 36, step 27 may be implemented by the execution module 37, and step 28 may be implemented by the request instruction transmission module 39. That is, the determining module 36 is configured to determine whether the external environment has a historical intended parking position selected by the user according to the first environmental information and the second environmental information; the execution module 37 is used for taking the historical intentional parking position as the intentional parking position of the user when the historical intentional parking position exists in the external environment; the request instruction sending module 38 is configured to send a desired parking position selection request to the mobile terminal when there is no historical desired parking position in the external environment, so that the user can select a user desired parking position in the second ring view image displayed by the mobile terminal.

Specifically, step 26 is performed before step 22 and after step 21. If the user has selected the user-intended parking position during the previous parking, the user-intended parking position is saved as the historical-intended parking position after parking. It may be determined whether there is a historical intended parking location in the external environment that was selected by the user before each acquisition of the target parking space.

In step 27, when the external environment has the historical parking position, the historical parking position is used as the user parking position, so that after the user selects the user parking position once, the next time of parking automatically uses the historical parking position selected by the user as the user parking position without the need of re-selection, thereby reducing the user operation and improving the automation degree of the parking process.

In step 28, when there is no parking position in the external environment, the user may select to send a request for selecting a parking position to the mobile terminal, and after the user selects a parking position in the second annular view image displayed on the mobile terminal, step 25 is executed to receive the parking position in the second annular view image displayed on the mobile terminal.

Referring to fig. 14, in some embodiments, analyzing the first environmental information and the second environmental information to extract the target parking space meeting the preset requirement includes the following steps:

223. analyzing the first environment information to judge whether a first vacant parking space meeting a first preset requirement exists in the external environment;

224. when a first vacant parking space exists, taking the first vacant parking space as a target parking space;

225. when the first vacant parking space does not exist, analyzing the second environment information to judge whether a second vacant parking space meeting a second preset requirement exists in the external environment;

226. and when the second vacant parking space exists, taking the second vacant parking space as the target parking space.

Referring to fig. 15, in some embodiments, the parking space obtaining module 32 includes a second analysis unit 323, a second parking space obtaining unit 324, a third analysis unit 325, and a third parking space obtaining unit 326. Step 223 may be implemented by the second analysis unit 323, step 224 may be implemented by the second space obtaining unit 324, step 225 may be implemented by the third analysis unit 325, and step 226 may be implemented by the third space obtaining unit 326. That is, the second analysis unit 323 is configured to analyze the first environment information to determine whether the external environment has a first vacant parking space meeting the first preset requirement; the second parking space obtaining unit 324 is configured to, when there is a first vacant parking space, take the first vacant parking space as a target parking space; the third analyzing unit 325 is configured to analyze the second environmental information to determine whether a second vacant parking space meeting a second preset requirement exists in the external environment when the first vacant parking space does not exist; the third parking space obtaining unit 326 is configured to take the second vacant parking space as the target parking space when the second vacant parking space exists.

Specifically, in step 223, the first environment information is a scene image captured by the camera, the scene image may be processed first, the vehicle location line in the scene image is extracted, then the area between the two vehicle location lines is processed, an obstacle in the area between the two vehicle location lines is identified, and whether the area between the two vehicle location lines meets a first preset requirement is determined, where the first preset requirement may be, for example, that there is no obstacle between the two vehicle location lines, or that the position of the obstacle is not in a specific area, or that the height of the obstacle is lower than a specific value. When the obstacle is identified, the scene image is analyzed to identify the ground to obtain a ground RGB value range and a parking space line RGB value range, whether an area which is connected with the ground but is not in the ground RGB value range and the parking space line RGB value range exists or not is judged, if the area exists, an object corresponding to the area is used as the obstacle, and then the characteristics of the obstacle are further analyzed to judge whether a first vacant parking space meeting a first preset requirement exists in the area corresponding to the scene image or not.

It can be understood that, when there is a first vacant parking space, the area where the first vacant parking space is located meets the first preset requirement, and then the first vacant parking space is taken as the target parking space. When the first vacant parking space does not exist, the first vacant parking space which meets the first preset requirement may not be found in the scene range acquired by the imaging module due to the small scene image range acquired by the imaging module, or the parking space which meets the second preset requirement but does not meet the first preset requirement may not be identified due to the fact that the imaging module cannot reflect the property of the object in the acquired scene image. For example, when a large plastic bag is placed in the middle between two parking spaces, the analysis of only the first environment information may result in that the area between the two parking spaces does not meet the first preset requirement, but actually allows parking, and then the second environment information may be further analyzed to determine whether the outside environment has a second empty parking space meeting the second preset requirement.

The second environment information is ultrasonic signals of ultrasonic waves emitted by the ultrasonic detection module to the external environment after the ultrasonic waves are reflected by the object, the characteristics of the external shape, the structure, the material and the like of the object can be obtained by analyzing the second environment information, whether an area with the size larger than a preset size and without obstacles or an area with the characteristics of the external shape, the structure, the material and the like of the obstacles meeting specific requirements exists in the external environment can be judged, and if the area exists, the area is used as a second vacant parking space. Then, when there is an area in the external environment where only a plastic bag or other objects that do not affect parking are on the surface, the area can be considered to meet the second preset requirement.

And when the first vacant parking space meeting the first preset requirement does not exist but the second vacant parking space meeting the second preset requirement exists, taking the second vacant parking space as the target parking space. Like this when can't look for first vacant parking stall according to the first environmental information that the imaging module gathered, the second environmental information that the accessible analysis was surveyed the module and is gathered looks for the vacant parking stall of second, and the process of looking for target parking stall like this is more intelligent.

It can be understood that when the parking lot is marked on the ground only by a figure (e.g., a parking line), the partition information of the parking spaces may not be obtained by analyzing the second environmental information, so that when a first vacant space meeting the first preset requirement is not found, the second vacant space is searched, and thus the vehicle can be normally parked in the parking space as much as possible.

Referring to fig. 16, in a further embodiment based on the above embodiment, step 224 includes:

2241. when the first vacant parking space exists, analyzing the second environmental information to judge whether the first vacant parking space meets a second preset requirement;

2242. and when the first vacant parking space meets the second preset requirement, taking the first vacant parking space as a target parking space.

Referring to fig. 17, in some embodiments, the second parking space obtaining unit 324 includes an analyzing subunit 3241 and a parking space obtaining subunit 3242. Step 2241 may be implemented by analysis subunit 3241, and step 2242 may be implemented by parking space acquisition subunit 3242. That is, the analyzing subunit 3241 is configured to, when there is a first vacant parking space, analyze the second environment information to determine whether the first vacant parking space meets a second preset requirement; the parking space obtaining subunit 3242 is configured to, when the first vacant parking space meets the second preset requirement, use the first vacant parking space as a target parking space.

Specifically, an obstacle in a ground-off state, an obstacle close to a ground color, or another obstacle that cannot be recognized through image analysis may not be recognized through analysis of the first environment information. Then, in the first vacant parking space that meets the first preset requirement, there may be an obstacle in a ground-off state, an obstacle close to the ground color, or another obstacle that cannot be identified through image analysis, but these obstacles may be identified by assisting in analyzing the second environmental information, and the second environmental information may be further analyzed to determine whether the first vacant parking space meets the second preset requirement, so as to determine whether to use the first vacant parking space as the target parking space.

And when the first vacant parking space meets the second preset requirement, taking the first vacant parking space as a target parking space. So, the process on target parking stall of selecting has combined the first environmental information that the imaging module gathered and the second environmental information that surveys the module and gather, accords with first preset requirement and second preset requirement, and the target parking stall of selecting like this is more accurate, helps avoiding leading to the fact the parking accident because of the barrier that can't discern being in the liftoff state according to first environmental information, the barrier that is close with ground colour or other barriers that can't discern through image analysis.

When the first vacant parking space does not accord with the second preset requirement, the parking space can be considered not to accord with the preset requirement, and the next first vacant parking space which accords with the first preset requirement can be continuously searched.

Referring to fig. 18, based on the above-mentioned embodiment, in some embodiments, the parking path includes a plurality of parking sub-paths connected in sequence, and the vehicle is located in the target parking space when the vehicle reaches the end of the last parking sub-path, step 24 includes, but is not limited to, the following steps:

2401. acquiring the current position of the vehicle, and acquiring the current parking sub-path of the vehicle according to the current position;

2402. controlling the vehicle to run to the terminal point of the current parking sub-path according to the running mode corresponding to the current parking sub-path;

2403. judging whether the vehicle reaches a target parking space;

2404. when the vehicle does not reach the target parking space, the next parking sub-path is taken as the current sub-path, and then step 2402 is performed again until the vehicle reaches the target parking space.

Referring to fig. 19, in some embodiments, the parking control module 34 includes a location acquisition unit 3401, a first parking control unit 3402, a first determination unit 3403, and an execution unit 3404. Step 2401 may be implemented by the location obtaining unit 3401, step 2402 may be implemented by the first parking control unit 3402, step 2403 may be implemented by the first determination unit 3403, and step 2404 may be implemented by the execution unit 3404. That is to say, the position obtaining unit 3401 is configured to obtain a current position of the vehicle, and obtain a current parking sub-path where the vehicle is located according to the current position; the first parking control unit 3402 is configured to control the vehicle to travel to an end point of the current parking sub-path according to a travel mode corresponding to the current parking sub-path; the first determination unit 3403 is configured to determine whether the vehicle reaches the target parking space; the execution unit 3404 is configured to, when the vehicle does not reach the target parking space, take the next parking sub-path as the current sub-path, and control the vehicle to travel to the end of the current parking sub-path according to the traveling mode corresponding to the current parking sub-path until the vehicle reaches the target parking space.

Specifically, in step 2401, the current position of the vehicle in the external environment may be obtained according to the first environmental information and the second environmental information collected in real time, and then whether the vehicle reaches the target parking space is determined by determining whether the current position is in the target parking space according to the current position. Of course, in other embodiments, the current position of the vehicle may be obtained by a positioning device of the vehicle.

In step 2402, each parking sub-path corresponds to a driving mode, and a control process corresponding to the driving mode corresponding to each parking sub-path is obtained by simulating a driving habit of a human. In this embodiment, the control process of the driving mode corresponding to the driving sub-path S1 includes adjusting the posture of the vehicle to keep the vehicle parallel to the target parking space, and controlling the vehicle to move straight to P1 according to the driving sub-path S1; the control process of the driving mode corresponding to the first steering sub-path S2 includes controlling the vehicle to steer toward the target parking space, maintaining the steering angle, and driving the vehicle to P2 according to the first steering sub-path S2; the control process of the running mode corresponding to the straight sub-path S3 comprises the steps of controlling the vehicle to run straight to P3 according to the straight sub-path S3; the control process of the driving mode corresponding to the second steering sub-path S4 includes controlling the vehicle to steer in the direction opposite to the target parking space, maintaining the steering angle, and driving the vehicle to P4 according to the second steering sub-path S4. That is, when the vehicle first adjusts the vehicle attitude to keep the vehicle parallel to the target parking space and travels straight to P1, after reaching P1, the vehicle is steered toward the target parking space to keep the steering angle, when the vehicle reaches P2, the vehicle is controlled to travel straight to P3, after reaching P3, the vehicle is controlled to steer in the opposite direction to the target parking space to keep the steering angle, and the vehicle is driven to P4.

In step 2403, when the vehicle reaches the end point of the current parking subpath, whether the target parking space is reached may be determined by determining whether the current parking subpath is the last parking subpath; whether the vehicle is located in the target parking space can also be judged through the first environmental information and the second environmental information.

In step 2404, when the vehicle does not reach the target parking space, the next parking sub-path is taken as the current sub-path, and the vehicle is controlled to travel to the end point of the current parking sub-path according to the traveling mode corresponding to the current parking sub-path, so that the end points of the parking sub-paths are sequentially taken as the target points, and the vehicle is controlled to sequentially reach the end points of the parking sub-paths, and when the vehicle reaches the end point of the last parking sub-path, the vehicle reaches the target parking space, so that automatic parking is achieved. Therefore, the parking path is subdivided into a plurality of parking sub-paths, and the vehicle is controlled to sequentially run according to the parking sub-paths, so that the process of controlling the automatic parking of the vehicle is more accurate.

When the vehicle arrives at the parking space, the parking process is completed, the parking is finished, the information acquisition module stops to execute the step 21, and a parking completion prompt can be sent to the mobile terminal, so that the user can know the parking completion message in time through movement, and the user experience is better.

Referring to fig. 20, according to the above embodiment, step 24 includes, but is not limited to, the following steps:

2406. judging whether an obstacle exists in the parking path according to the first environment information and the second environment information;

2407. when an obstacle exists in the parking path, acquiring position information of the obstacle and adjusting the parking path according to the position information of the obstacle;

2408. and controlling the vehicle to run to the target parking space according to the adjusted parking path.

Referring to fig. 21, in some embodiments, the parking control module 34 includes a second determination unit 3406, an obstacle acquisition unit 3407, and a second parking control unit 3408. Step 2406 may be implemented by the second determination unit, step 2407 may be implemented by the obstacle acquisition unit 3407, and step 2408 may be implemented by the second parking control unit 3408. That is to say. The second determination unit 3406 is configured to determine whether an obstacle exists in the parking path according to the first environment information and the second environment information; the obstacle obtaining unit 3407 is configured to obtain position information of an obstacle and adjust a parking path according to the position information of the obstacle when the obstacle exists in the parking path; the second parking control unit 3408 is configured to control the vehicle to travel to the target parking space according to the adjusted parking path.

Specifically, in the process of controlling the vehicle to park to the target parking space according to the parking path, a new obstacle may appear in the parking path or the target parking space, and if the obstacle is not found in time, a parking accident is likely to be caused. In the process that the vehicle is parked to the target parking space, the imaging module collects first environment information of the external environment of the vehicle in real time, the detection module collects second environment information of the external environment of the vehicle in real time, whether obstacles exist in the parking path or not can be judged in real time according to the first environment information and the second environment information, and therefore when new obstacles appear on the parking path or the target parking space, the obstacles can be found in time. When the obstacle exists in the parking path, acquiring the position information of the obstacle, adjusting the parking path according to the position information of the obstacle, and controlling the vehicle to drive to the target parking space according to the adjusted parking path.

And when no obstacle exists in the parking path, controlling the vehicle to drive to the target parking space according to the adjusted parking path.

Further, when an obstacle is found in the parking path, the vehicle can be controlled to park and run, after the preset time is waited, whether the obstacle disappears is judged by analyzing the first environment information and the second environment information, if the obstacle disappears, the vehicle is controlled to continue to run to the target parking space according to the parking path, if the obstacle does not disappear, the position information of the obstacle is obtained, the parking path is adjusted according to the position information of the obstacle, and then the vehicle is controlled to park to the target parking space according to the adjusted parking path.

The preset time period may be set by a developer of the parking system. The first preset time period corresponding to when the obstacle is found in the forward state of the vehicle may be set to be shorter than the second preset time period corresponding to when the obstacle is found in the reverse state of the vehicle. For example, the first preset time period may be set to 5 seconds and the second preset time period may be set to 30 seconds. Of course, in other embodiments, the first preset time period and the second preset time period may be set to other suitable values, which are not limited herein.

Referring to FIG. 22, in some embodiments, controlling the vehicle to park in the target parking space according to the parking path includes, but is not limited to, the steps of:

2409. controlling the vehicle to run according to the parking path;

2410. when a parking instruction sent by the mobile terminal is received, controlling the vehicle to stop running, analyzing the parking instruction, and judging whether the parking instruction contains obstacle position information or not;

2411. when the parking instruction comprises obstacle position information, adjusting a parking path according to the obstacle position information;

2412. and when a continuous parking instruction sent by the mobile terminal is received, controlling the vehicle to run to the target parking space according to the adjusted parking path.

Referring to fig. 23, in some embodiments, the parking control module 34 includes a third parking control unit 3409, a third determination unit 3410, a parking path adjustment unit 3411, and a fourth parking control unit 3412. Step 2409 may be implemented by the third parking control unit 3409, step 2410 may be implemented by the third determining unit 3410, step 2411 may be implemented by the parking path adjusting unit 3411, and step 2412 may be implemented by the fourth parking control unit 3412. That is, the third parking control unit 3409 is used to control the vehicle to travel according to the parking path; the third judging unit 3410 is configured to, when receiving a parking instruction sent by the mobile terminal, control the vehicle to stop running and analyze the parking instruction, and judge whether the parking instruction includes obstacle position information; the parking path adjusting unit 3411 is configured to adjust a parking path according to the obstacle position information when the parking instruction includes the obstacle position information; the fourth parking control unit 3412 is configured to control the vehicle to travel to the target parking space according to the adjusted parking path when receiving the continue parking instruction sent by the mobile terminal.

Specifically, after the parking path is obtained, the parking system 300 may control the vehicle to travel along the parking path. The user can check the external environment of the vehicle at the mobile terminal, when finding that an obstacle exists on a parking path or the vehicle needs to stop parking due to other special conditions, the user can send a parking instruction through the mobile terminal, and the parking system 300 controls the vehicle to stop running after receiving the parking instruction through the communication interface 103, so that the user can also control the vehicle to stop running in time in the parking process. The vehicle is controlled to stop running, and whether the parking instruction includes position information of an obstacle or not is analyzed. If the user needs to stop parking because the user finds that the parking path has the obstacle, the position information of the obstacle can be sent out along with the parking instruction, so that the parking system 300 can obtain the position information of the obstacle according to the parking instruction and adjust the parking path in time.

When the parking instruction includes the obstacle position information, the parking system 300 adjusts the parking path according to the obstacle position information to avoid collision between the vehicle and the obstacle. In one example, the parking system 300 fuses the first environment information and the second environment information into a scene image of an external environment and transmits the scene image to the mobile terminal, the user may mark an obstacle in the scene image and transmit the scene image marked with the obstacle to the parking system 300 as a parking instruction through a WiFi transmission mode, for example, the user may mark the obstacle at a position where the mobile terminal double-clicks the obstacle and transmit the scene image marked with the obstacle to the parking system 300 as a parking instruction, and after receiving the scene image marked with the obstacle through the communication interface 103, the parking system 300 adjusts a parking path according to a position of the obstacle in the scene image, so that the adjusted parking path avoids the obstacle. Of course, the post-parking command and the obstacle position information are not limited to the above-described forms, and may be set to other forms in other embodiments, and this example is for explanation only and is not intended to limit the present application.

In the parking process, a user can use the mobile terminal to send a parking instruction to control the vehicle to stop running, and can send obstacle position information to the parking system 300 along with the parking instruction when encountering an obstacle, after the parking system 300 receives the parking instruction through the communication interface 103, the parking system adjusts a parking path according to the obstacle position information in the parking instruction, and then controls the vehicle to run to a target parking space according to the adjusted parking path. Therefore, the parking process is automated, and meanwhile, the user can control the vehicle according to the actual situation, so that the parking process is more controllable, and the safety performance of vehicle parking is improved.

When the parking instruction does not include the position information of the obstacle, it indicates that the user may need to stop parking the vehicle for other reasons, the parking system 300 may determine whether the obstacle exists in the parking path according to the first environment information and the second environment information when parking the vehicle, adjust the parking path if the obstacle exists in the parking path, and control the vehicle to travel according to the adjusted parking path when receiving the instruction to continue parking; if no obstacle is found in the parking path based on the first and second environment information, the vehicle may be controlled to continue traveling along the parking path when a continue parking instruction is received.

Referring to fig. 24, the present invention further provides a computer-readable storage medium 400, wherein the computer-readable storage medium 400 contains computer-executable instructions 402, and when the computer-executable instructions 402 are executed by one or more processors 101, the processor 101 is caused to execute the parking method according to any one of the embodiments.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, digital subscriber line) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., compact disk), or a semiconductor medium (e.g., solid state disk), among others.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is merely a logical division, and the actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the indirect coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, and may be electrical or in other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage media may include, for example: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Claims

1. A method of parking a vehicle, comprising:

2. The parking method according to claim 1, wherein the transmitting the first environmental information and the second environmental information to the mobile terminal in real time includes:

and sending the second ring view image to the mobile terminal.

3. The vehicle parking method according to claim 2, characterized by comprising:

4. The vehicle parking method according to claim 3, further comprising:

5. The parking method according to claim 1, wherein the analyzing the first environmental information and the second environmental information to extract a target parking space meeting a preset requirement comprises:

6. The method for parking according to claim 5, wherein said regarding the first vacant space as the target parking space when the first vacant space exists comprises:

when the first vacant parking space exists, analyzing the second environment information to judge whether the first vacant parking space meets the second preset requirement;

7. The parking method according to claim 1, wherein planning a parking path for parking the vehicle to the target parking space based on the first environmental information and the second environmental information comprises:

8. The method for parking according to claim 1, wherein the controlling the vehicle to park in the target parking space in accordance with the parking path includes:

9. The method for parking according to claim 1, wherein the controlling the vehicle to park in the target parking space in accordance with the parking path includes:

controlling the vehicle to run according to the parking path;

10. A method for parking according to any one of claims 1 to 9 wherein the imaging module acquires first environmental information of a first area in the external environment and the detection module acquires second environmental information of a second area in the external environment,

the second area covers the first area and is larger than the first area; or

11. A method for parking according to any one of claims 1 to 9 wherein the imaging module comprises any one or more of a general camera, a panoramic camera, a monocular camera, a binocular camera, a hyperspectral camera.

12. A method for parking according to any one of claims 1 to 9 wherein the detection module comprises any one or more of an ultrasonic sensor, a lidar, a millimeter wave radar.

13. The parking method according to any one of claims 1 to 9, wherein the control instruction signal is transmitted between the communication interface and the mobile terminal by means of bluetooth transmission, and the image data is transmitted between the communication interface and the mobile terminal by means of WiFi transmission, and the image data includes the first environment information and the second environment information.

14. A parking system, comprising:

15. The vehicle parking system of claim 14, wherein the information acquisition module comprises:

16. The vehicle parking system of claim 15 wherein the vehicle parking system comprises:

the parking space acquisition module comprises:

17. The vehicle parking system of claim 16 wherein the vehicle parking system comprises:

18. The parking system of claim 14, wherein the slot acquisition module comprises:

19. The parking system of claim 18 wherein the second vehicle space acquisition unit comprises:

20. The parking system of claim 14, wherein the path planning module is configured to determine a parking mode of the vehicle according to the first environment information and the second environment information, wherein the parking mode includes any one of horizontal parking, vertical parking, and inclined parking; and

21. The vehicle parking system of claim 14, wherein the parking control module comprises:

22. The vehicle parking system of claim 14, wherein the parking control module comprises:

23. The parking system of any one of claims 14 to 22 wherein the imaging module acquires first environmental information for a first area of the external environment and the detection module acquires second environmental information for a second area of the external environment,

the second area covers the first area and is larger than the first area; or

24. A parking system according to any one of claims 14 to 22 wherein the imaging module comprises any one or more of a general camera, a panoramic camera, a monocular camera, a binocular camera, a hyperspectral camera.

25. A parking system according to any one of claims 14 to 22 wherein the detection module comprises any one or more of an ultrasonic sensor, a lidar, a millimeter wave radar.

26. The parking system according to any one of claims 14 to 22, wherein the communication interface transmits the control command signal to the mobile terminal by means of bluetooth transmission, and the communication interface transmits image data to the mobile terminal by means of WiFi transmission, wherein the image data includes the first environment information and the second environment information.

27. An apparatus comprising a processor, a memory, a communication interface, and one or more programs stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps in the method of parking of any of claims 1-13.

28. A vehicle, characterized by comprising:

a vehicle body; and

the apparatus of claim 27 or the parking system of any of claims 14-26, mounted inside the vehicle body.

29. A computer-readable storage medium containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the method for parking of any of claims 1-13.