CN111923901A - Short-range passenger-replacing automatic parking method and device and automobile - Google Patents
Short-range passenger-replacing automatic parking method and device and automobile Download PDFInfo
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- CN111923901A CN111923901A CN202010755328.XA CN202010755328A CN111923901A CN 111923901 A CN111923901 A CN 111923901A CN 202010755328 A CN202010755328 A CN 202010755328A CN 111923901 A CN111923901 A CN 111923901A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Abstract
The embodiment provides a short-range passenger-replacing automatic parking method, a short-range passenger-replacing automatic parking device and an automobile. The method comprises the following steps: when the short-range passenger-replacing parking function is activated, identifying a target garage where the vehicle is located based on the self-positioning of the vehicle; judging whether parking information related to the target garage exists in the parking information base or not; if yes, reading all parking information associated with the target garage from the parking information library; pushing all parking information, and receiving a piece of target parking information fed back after the target parking information is selected by a user; judging whether a parking path exists in the target parking information or not; if yes, controlling the vehicle to run according to the parking path in the target parking information; when the vehicle runs to the position near the end point of the parking path in the target parking information, comparing the parking space information collected by the image sensing module with the parking space number in the target parking information to determine the specific position of the target parking space; and controlling the vehicle to park in the target parking space.
Description
Technical Field
The invention is used for a short-range passenger-replacing parking system, and particularly relates to a short-range passenger-replacing automatic parking method, a short-range passenger-replacing automatic parking device and an automobile.
Background
At present, the autonomous passenger-riding parking function at home and abroad enters a demonstration operation stage, and a commercialized threshold is about to be reached. The automatic parking function for the passenger instead belongs to the automatic driving category, and has the main functions that a driver places a parking instruction for a vehicle through a remote control device outside the vehicle, the vehicle automatically drives to search a target parking space, and the parking is finished after the target parking space is searched. The key step in realizing the autonomous passenger-riding parking function is to find a target parking space. Currently there are mainly four different technical approaches: randomly searching available parking spaces; 2. the intelligent parking lot gives a target parking space position to the vehicle and leads the vehicle to the target parking space; 3. a passenger-assistant parking system with a high-precision map can be used for parking in any designated parking space in the map. 4. The memory type parking system trains a single path and a certain fixed parking space and completes parking in a tracking mode.
The technical idea is that the first method is to search any parking space for parking without a map; the mode is more suitable for a short-range passenger-riding system and operates in a short-distance range; the second is that a guide path is needed, and the guide path can be guided to a target parking space.
According to the technical principle and thought, the current parking system has an important technical premise that the target parking space is locked for parking according to the target parking space appointed by the driver, and path information and parking space information need to be collected in advance.
Therefore, for the technical method 1, the requirement of the driver for parking a fixed parking space cannot be met. To technical point 2, can satisfy appointed arbitrary free parking stall and park, but need build intelligent parking area facility, gather the parking area high accuracy map simultaneously and realize, it is with high costs to promote, and applicable scene is limited. The effect is best from the user experience point of view. For the technical mode 3, a high-precision map of a parking lot needs to be acquired, the parking lot can be parked in the designated parking space, but due to the fact that the intelligent parking lot does not support the parking lot, whether the designated parking space is free or not cannot be determined. For technical point 4, it is necessary that the driver first drives the vehicle to complete the path learning, so as to locate the parking space. In practical application, because the location is inaccurate, the situation that the vehicle can not be parked in an accurate parking space exists, and the physical examination is poor.
Disclosure of Invention
The embodiment provides a short-range passenger-replacing automatic parking method, a short-range passenger-replacing automatic parking device and an automobile.
The embodiment provides a short-range automatic parking method for a short-range passenger, which comprises the following steps:
when the short-range passenger-riding parking function is identified to be activated, identifying a target garage where the vehicle is specifically located based on the vehicle self-positioning;
judging whether parking information associated with the target garage exists in a previously memorized parking information library or not, wherein each piece of parking information in the parking information library comprises a garage position and a parking space number of a specific parking space, or a garage position, a parking space number of a specific parking space and a parking path;
if yes, reading all parking information associated with the target garage from a previously memorized parking information library;
pushing all parking information associated with the target garage, and receiving a piece of target parking information fed back by a user after the user selects the parking information based on the pushed all parking information;
judging whether a parking path exists in the target parking information or not;
if yes, controlling the vehicle to run according to the parking path in the target parking information;
when the vehicle runs to the position near the end point of the parking path in the target parking information, comparing the parking space information acquired by the image sensing module carried by the vehicle with the parking space number in the target parking information, and determining the specific position of the target parking space corresponding to the parking space number in the target parking information;
controlling the vehicle to park in the target parking space;
in the parking information base, parking paths in different parking information are different; the parking path in the parking information is a path from a specific starting position in the garage to the vicinity of a specific end position based on the vehicle, and the specific end position is a parking space in the corresponding parking information.
Preferably, in the parking information library memorized before, the parking space number is: according to a pre-stored arrangement rule, a character string consisting of partial characters extracted from parking space information identified on a parking space image collected by an image sensing module carried by a vehicle;
the parking information base includes:
the parking information comprises a plurality of pieces of parking information, wherein the garage position and the parking space number are the same, but the parking paths are different;
parking information having a garage position and a parking space number but an empty parking path; and/or
And a plurality of pieces of parking information with different garage positions, parking space numbers and parking paths.
Preferably, the short-range valet parking function is activated by a short-range valet parking key mounted on the vehicle or remotely activated by a user terminal that establishes communication with the vehicle in advance.
Preferably, the step of pushing all parking information associated with the target garage and receiving a piece of target parking information fed back by the user after selecting the information based on the pushed all parking information specifically includes:
pushing all parking information of the target garage to a user terminal which is communicated with a vehicle in advance, and receiving a piece of target parking information which is fed back by the user terminal and selected by the user based on the pushed all parking information; or
And pushing all parking information of the target garage to a vehicle-mounted human-computer interaction device, and receiving a piece of target parking information which is fed back by the vehicle-mounted human-computer interaction device and selected by a user based on the pushed all parking information.
Preferably, when the vehicle travels to the vicinity of the end position of the parking path in the target parking information, the step of comparing the vehicle with the parking space number in the target parking information and determining the specific position of the target parking space corresponding to the parking space number in the target parking information specifically includes:
when the vehicle runs to the preset distance range of the end position of the parking path in the target parking information, comparing parking space information identified on a parking space image acquired by an image sensing module carried by the vehicle with a parking space number in the target parking information, if a character string formed by characters of corresponding positions in the parking space information identified on the acquired parking space image is the same as the parking space number in the target parking information, determining that the parking space corresponding to the acquired parking space image is a target parking space, and the specific position corresponding to the acquired parking space image is the specific position of the target parking space.
Preferably, if the parking path does not exist in the target parking information, the method further includes:
constructing a driving path in real time based on a peripheral image in a target garage collected by an image sensing module carried by the vehicle, and controlling the vehicle to advance along the constructed driving path in real time; meanwhile, based on parking space information acquired in real time by an image sensing module carried by a vehicle, comparing the parking space information with a parking space number in the target parking information, and determining a specific position of a target parking space corresponding to the parking space number in the target parking information;
and controlling the vehicle to park in the target parking space.
Preferably, the method further comprises:
and the constructed driving path is stored in the corresponding parking information in a correlation mode.
The present embodiment also provides a short-range automatic parking apparatus, including:
the recognition module is used for recognizing a specific target garage where the vehicle is located based on the self positioning of the vehicle when the short-range passenger-riding parking function is recognized to be activated;
the system comprises a first judgment module, a second judgment module and a third judgment module, wherein the first judgment module is used for judging whether the previously memorized parking information library has parking information associated with the target garage or not, and each piece of parking information in the parking information library comprises a garage position and a parking space number of a specific parking space, or a garage position, a parking space number of a specific parking space and a parking path;
the reading module is used for reading all parking information associated with the target garage from the previously memorized parking information library if the parking information exists;
the pushing and receiving module is used for pushing all parking information associated with the target garage and receiving a piece of target parking information fed back by a user after the user selects the information based on the pushed all parking information;
the second judgment module is used for judging whether a parking path exists in the target parking information or not;
the first control module is used for controlling the vehicle to run according to the parking path in the target parking information if the target parking information exists;
the determining module is used for comparing parking space information acquired by the image sensing module carried by the vehicle with a parking space number in the target parking information when the vehicle runs to the position near the end point of the parking path in the target parking information, and determining the specific position of the target parking space corresponding to the parking space number in the target parking information;
the second control module is used for controlling the vehicle to park in the target parking space;
in the parking information base, parking paths in different parking information are different; the parking path in the parking information is a path from a specific starting position in the garage to the vicinity of a specific end position based on the vehicle, and the specific end position is a parking space in the corresponding parking information.
The embodiment also provides an automobile which comprises the short-range passenger-riding device.
The invention has the beneficial effects that:
the problem that a high-precision map of a parking lot needs to be established or field-end intelligent facilities need to be established to guide the vehicle to park in a target parking space in the process of passenger-riding parking is solved only through a system scheme based on a vision technology, and the effect of automatically parking the vehicle in a parking space commonly used by a vehicle owner is achieved.
Drawings
FIG. 1 is a flow chart of a method of an embodiment of the present invention;
fig. 2 is an architecture diagram of a short-range valet parking system.
Detailed Description
In order to realize the short-range passenger-assisted parking method in the embodiment, the short-range passenger-assisted parking system is realized based on the prior art, and in the embodiment, the vehicle is provided with an image sensing module consisting of 12 ultrasonic radars and 4 high-definition cameras with 100 ten thousand pixels. The image perception module and the short-range passenger-riding system adopt the same controller on hardware (namely the image perception module is connected with the controller of the short-range passenger-riding system on hardware), and a sensing and control unit of the short-range passenger-riding system is formed.
The short-range passenger-riding parking system is mainly used for a short-range autonomous passenger-riding parking scene, and mainly solves the problem that a driver needs to drive a vehicle to find a target parking space and finish parking. In a common residential garage, a driver often has own fixed private parking space, when the driver needs to find the private parking space and finish parking, the driver can stop the vehicle at a convenient position close to an elevator or an access in a traffic lane by driving, and starts the short-range passenger-assistant parking system, so that the vehicle can independently drive to move forward to a target parking space selected by a vehicle owner, and the vehicle cannot stop into other free parking spaces until the target parking space is found.
As shown in fig. 2, in the present embodiment, the short-range parking assistant system includes a short-range parking assistant controller 5, 12 ultrasonic sensors are directly connected to the short-range parking assistant controller 5 through a digital I/0 port, 4 high-definition cameras 3 are connected to the short-range parking assistant controller 5 through an LVDS video transmission line 7, a smart phone 1 is connected to the short-range parking assistant controller 5 through 4G/5G communication, the short-range parking assistant controller 5 is connected to a gateway 4 of a whole vehicle through a CANFD8 and an ethernet 9, and the gateway 4 is connected to other subsystems of the vehicle. The gateway 5 provides a signal of the whole vehicle to the fusion parking controller, and the short-range passenger-replacing parking controller 6 sends the identified environmental information and the control signal to the gateway 8, so that the vehicle is controlled, and the short-range passenger-replacing parking function is completed.
Referring to fig. 1, the short-range passenger automatic parking method implemented by the system in the present embodiment is applied to a short-range passenger parking controller 6, and specifically includes:
and S101, identifying a specific target garage where the vehicle is located based on the self-positioning of the vehicle when the short-range passenger-assistant parking function is identified to be activated.
The short-range passenger-riding function is activated through a short-range passenger-riding key mounted on the vehicle or remotely activated through a user terminal which is in communication with the vehicle in advance. The specific way of activating the short-range valet parking function is not definite, and can be designed based on actual conditions.
In this embodiment, the target parking space refers to a parking space in which the vehicle has parked twice or more because the vehicle is automatically parked in the common parking space. The garage for the first drive-in does not belong to the target garage in the embodiment.
The principle of identifying the specific target garage of the vehicle based on the self-positioning of the vehicle is realized based on the position positioning principle, and the specific position garage of the vehicle can be quickly determined based on the vehicle-mounted map.
Step S102, judging whether parking information related to the target garage exists in a previously memorized parking information library or not, wherein each piece of parking information in the parking information library comprises a garage position and a parking space number of a specific parking space, or a garage position, a parking space number of a specific parking space and a parking path.
In the parking information base, parking paths in different parking information are different; the parking path in the parking information is a path from a specific starting position in the garage to the vicinity of a specific end position based on the vehicle, and the specific end position is a parking space in the corresponding parking information.
In practice, when the vehicle owner drives the vehicle into a garage that has never been parked and the short-range passenger parking function is turned on, the garage information of the position of the vehicle can still be identified by executing step S101. For the garage which is driven in for the first time, in this scene, the parking information cannot be matched in the judgment result of the step S102, at this time, the result that the parking information cannot be found is directly pushed, and the short-range passenger-replacing autonomous parking function is exited.
In this embodiment, the short-range valet parking system has a memory function that can be activated based on the user's active selection after the short-range valet parking function is activated, after the memory function is started, a user drives the vehicle to the position near the common parking space from a specific initial position of the garage manually, the driving path of the vehicle at the moment is used as a parking path to the position near the common parking space, meanwhile, the user operates the image sensing module carried by the vehicle to real-timely obtain the parking space number information of the common parking space, then, the controller reads out several last characters of the acquired parking space number information of the common parking space and forms a new character string as the parking space number of the common parking space stored in the database (namely, the character string formed by partial characters extracted from the parking space information identified on the parking space image acquired by the image sensing module carried by the vehicle according to the pre-stored arrangement rule is used as the parking space number of the common parking space stored in the database). For example, the parking space number of the commonly used parking space of the garage a acquired by the image acquisition is a01, the last two digits 01 are read out to serve as the parking space number of the garage a01 stored in the database, the position of the vehicle after entering the garage induction rod is taken as a specific starting position, the parking space a01 is taken as a specific end position, and the path from the position of the vehicle after entering the garage induction rod to the position near the garage a01 is taken as a parking path; the parking space number of the commonly used parking space of the B garage with the image acquisition is 0010, and two digits 10 at the tail are read out to be used as the parking space number of the 0010 parking space in the B garage stored in the database. After the information is memorized, the parking information with the garage position, the parking space number and the parking path can be stored. The pre-stored arrangement rule refers to that parking space number information expression content in an image is extracted from the image through a mode recognition and semantic analysis method, and the parking space number is generally in a combined form of letters and numbers. For example, character C is used as a letter and character N is used as a number. The general combination forms are CNNNN, CNNN, CNN, CN, NN, NNN, NNNN, etc. Aiming at the A01 parking space in the A garage, the C01 parking space number is arranged for storage. Aiming at different parking spaces in the same garage, the parking space numbers of different parking spaces cannot be the same, and in a region of 5 meters near a target parking space, the situation that the tail characters of the parking space numbers are the same does not exist, so that the parking space numbers of different parking spaces in the same garage stored in a parking information library can be guaranteed to be different.
In addition, the memory function can be set to a mode that a user manually sets the memory of the common parking spaces in the database. In this condition, since the vehicle is not trained to travel, there is no path to travel from a particular starting location of the garage to the vicinity of the parking spot in common, i.e., the parking path is now empty or there is no parking path.
It should be noted that, in this embodiment, the terminal position of the parking path is a path near a common parking space, that is, in the process of storing the parking information, the vehicle does not need to be parked in the common parking space, but only needs to travel near the common parking space.
After the storage, the parking information base constructed has the following contents: the parking information comprises a plurality of pieces of parking information, wherein the garage position and the parking space number are the same, but the parking paths are different;
parking information having a garage position and a parking space number but an empty parking path; and/or
And a plurality of pieces of parking information with different garage positions, parking space numbers and parking paths.
In step S102, whether garage information with the same location as the target garage exists in the parking information base is searched based on the location of the target garage, and if so, it is determined that parking information associated with the target garage exists.
And step S103, if yes, reading all parking information related to the target garage from the previously memorized parking information base.
After the information is read, the result of the read parking information may be one of the following:
(1) the parking information is multiple, and the garage position and the parking space number in each piece of parking information are the same but the parking paths are different;
(2) the parking information is one piece, and the parking information comprises garage positions, parking lot numbers and parking path information.
(3) The parking information is one, and the parking information only comprises the garage position and the parking space number and does not comprise the parking path.
And step S104, pushing all parking information associated with the target garage, and receiving a piece of target parking information fed back by a user after the user selects the information based on the pushed all parking information.
The step S104 specifically includes: pushing all parking information of the target garage to a user terminal which is communicated with a vehicle in advance, and receiving a piece of target parking information which is fed back by the user terminal and selected by the user based on the pushed all parking information; or
And pushing all parking information of the target garage to a vehicle-mounted human-computer interaction device, and receiving a piece of target parking information which is fed back by the vehicle-mounted human-computer interaction device and selected by a user based on the pushed all parking information.
Step S105, judging whether a parking path exists in the target parking information.
And step S106, if so, controlling the vehicle to run according to the parking route in the target parking information.
And S107, when the vehicle runs to the position near the end point of the parking path in the target parking information, comparing the parking space information acquired by the image sensing module carried by the vehicle with the parking space number in the target parking information, and determining the specific position of the target parking space corresponding to the parking space number in the target parking information.
The vicinity of the end position in the parking path is a range within 5 meters near the target parking space.
When the specific position of the target parking space is determined, for the a01 parking space in the garage a in the above example, the image sensing module compares the images of the a02 parking space every time the image sensing module acquires one parking space number image, for example, in the process of acquiring at a certain time, the last two digits of the a02 parking space are compared with 01 to determine that the a02 parking space is not the target parking space. On the contrary, when the image sensing module collects the A01 parking space number image, the information with the consistent comparison result can be obtained, and further the specific position of the A01 parking space can be determined.
And S108, controlling the vehicle to park in the target parking space.
In the specific process of parking the vehicle into the target parking space, the optimal path of parking into the parking space needs to be analyzed by combining the image acquired by the sensing module in real time. This process is the manner described in the prior art, and this is not described in this embodiment.
By means of the steps, the vehicle can be guided to automatically park in the common parking space without building a high-precision map of a parking lot or a field-end intelligent facility in the process of passenger-substitute parking. The method can quickly and accurately identify and match the target parking space without any transformation and high-precision map drawing on the parking lot. The method is efficient, low in cost and high in applicability, and can be applied to a short-range passenger-riding parking system.
The system firstly enables a driver to determine a target parking space for long-term parking through man-machine operation, and then the system learns and memorizes the target parking space. When the driver uses the short-range passenger-replacing parking system, the system can actively search the target parking space and finish parking.
In addition, as shown in fig. 1, in this embodiment, if there is no parking route in the target parking information, the method further includes:
step S109, constructing a driving path in real time based on the peripheral image in the target garage collected by the image sensing module carried by the vehicle, and controlling the vehicle to advance in real time along the constructed driving path; meanwhile, based on the parking space information acquired by the image sensing module carried by the vehicle in real time, the parking space information is compared with the parking space number in the target parking information, and the specific position of the target parking space corresponding to the parking space number in the target parking information is determined.
At the moment, the vehicle can construct a local map in real time through the SLAM technology and plan a path, and the method mainly shows that the vehicle can move forward along the current travelable road and start a parking space searching function. Meanwhile, the camera detects and extracts the parking space number information in real time by capturing the parking space image, and meanwhile, the parking space number information is matched and judged with the parking space number appointed by the driver until the target parking space is searched.
Then, step S108 is executed to control the vehicle to park in the target parking space.
At this time, the method further includes:
and step S110, the constructed driving path is stored in the corresponding parking information in a correlation mode, so that when the vehicle is parked in the parking space next time, the parking path exists, and the vehicle can be quickly parked in the target parking space according to the parking path.
The present embodiment also provides a short-range automatic parking apparatus, including:
the recognition module is used for recognizing a specific target garage where the vehicle is located based on the self positioning of the vehicle when the short-range passenger-riding parking function is recognized to be activated;
the system comprises a first judgment module, a second judgment module and a third judgment module, wherein the first judgment module is used for judging whether the previously memorized parking information library has parking information associated with the target garage or not, and each piece of parking information in the parking information library comprises a garage position and a parking space number of a specific parking space, or a garage position, a parking space number of a specific parking space and a parking path;
the reading module is used for reading all parking information associated with the target garage from the previously memorized parking information library if the parking information exists;
the pushing and receiving module is used for pushing all parking information associated with the target garage and receiving a piece of target parking information fed back by a user after the user selects the information based on the pushed all parking information;
the second judgment module is used for judging whether a parking path exists in the target parking information or not;
the first control module is used for controlling the vehicle to run according to the parking path in the target parking information if the target parking information exists;
the determining module is used for comparing parking space information acquired by the image sensing module carried by the vehicle with a parking space number in the target parking information when the vehicle runs to the position near the end point of the parking path in the target parking information, and determining the specific position of the target parking space corresponding to the parking space number in the target parking information;
the second control module is used for controlling the vehicle to park in the target parking space;
in the parking information base, parking paths in different parking information are different; the parking path in the parking information is a path from a specific starting position in the garage to the vicinity of a specific end position based on the vehicle, and the specific end position is a parking space in the corresponding parking information.
The embodiment also provides an automobile which comprises the short-range passenger-riding device.
Claims (9)
1. A method for short-range automatic parking of a passenger, comprising:
when the short-range passenger-riding parking function is identified to be activated, identifying a target garage where the vehicle is specifically located based on the vehicle self-positioning;
judging whether parking information associated with the target garage exists in a previously memorized parking information library or not, wherein each piece of parking information in the parking information library comprises a garage position and a parking space number of a specific parking space, or a garage position, a parking space number of a specific parking space and a parking path;
if yes, reading all parking information associated with the target garage from a previously memorized parking information library;
pushing all parking information associated with the target garage, and receiving a piece of target parking information fed back by a user after the user selects the parking information based on the pushed all parking information;
judging whether a parking path exists in the target parking information or not;
if yes, controlling the vehicle to run according to the parking path in the target parking information;
when the vehicle runs to the position near the end point of the parking path in the target parking information, comparing the parking space information acquired by the image sensing module carried by the vehicle with the parking space number in the target parking information, and determining the specific position of the target parking space corresponding to the parking space number in the target parking information;
controlling the vehicle to park in the target parking space;
in the parking information base, parking paths in different parking information are different; the parking path in the parking information is a path from a specific starting position in the garage to the vicinity of a specific end position based on the vehicle, and the specific end position is a parking space in the corresponding parking information.
2. The method of claim 1,
in the parking information library memorized before, the parking space number is: according to a pre-stored arrangement rule, a character string consisting of partial characters extracted from parking space information identified on a parking space image collected by an image sensing module carried by a vehicle;
the parking information base includes:
the parking information comprises a plurality of pieces of parking information, wherein the garage position and the parking space number are the same, but the parking paths are different;
parking information having a garage position and a parking space number but an empty parking path; and/or
And a plurality of pieces of parking information with different garage positions, parking space numbers and parking paths.
3. The method of claim 1, wherein the short-range valet parking function is activated by a short-range valet parking key onboard the vehicle or remotely by a user terminal that pre-establishes communication with the vehicle.
4. The method according to claim 1, wherein the step of pushing all parking information associated with the target garage and receiving a piece of target parking information fed back by a user after selection based on the pushed all parking information comprises:
pushing all parking information of the target garage to a user terminal which is communicated with a vehicle in advance, and receiving a piece of target parking information which is fed back by the user terminal and selected by the user based on the pushed all parking information; or
And pushing all parking information of the target garage to a vehicle-mounted human-computer interaction device, and receiving a piece of target parking information which is fed back by the vehicle-mounted human-computer interaction device and selected by a user based on the pushed all parking information.
5. The method according to claim 1, wherein when the vehicle travels to a position near an end position of a parking path in the target parking information, the step of comparing the position with a parking space number in the target parking information and determining a specific position of a target parking space corresponding to the parking space number in the target parking information comprises:
when the vehicle runs to the preset distance range of the end position of the parking path in the target parking information, comparing parking space information identified on a parking space image acquired by an image sensing module carried by the vehicle with a parking space number in the target parking information, if a character string formed by characters of corresponding positions in the parking space information identified on the acquired parking space image is the same as the parking space number in the target parking information, determining that the parking space corresponding to the acquired parking space image is a target parking space, and the specific position corresponding to the acquired parking space image is the specific position of the target parking space.
6. The method of claim 1, wherein if no parking path exists in the target parking information, the method further comprises:
constructing a driving path in real time based on a peripheral image in a target garage collected by an image sensing module carried by the vehicle, and controlling the vehicle to advance along the constructed driving path in real time; meanwhile, based on parking space information acquired in real time by an image sensing module carried by a vehicle, comparing the parking space information with a parking space number in the target parking information, and determining a specific position of a target parking space corresponding to the parking space number in the target parking information;
and controlling the vehicle to park in the target parking space.
7. The method of claim 6, further comprising:
and the constructed driving path is stored in the corresponding parking information in a correlation mode.
8. A short-range automatic parking device, comprising:
the recognition module is used for recognizing a specific target garage where the vehicle is located based on the self positioning of the vehicle when the short-range passenger-riding parking function is recognized to be activated;
the system comprises a first judgment module, a second judgment module and a third judgment module, wherein the first judgment module is used for judging whether the previously memorized parking information library has parking information associated with the target garage or not, and each piece of parking information in the parking information library comprises a garage position and a parking space number of a specific parking space, or a garage position, a parking space number of a specific parking space and a parking path;
the reading module is used for reading all parking information associated with the target garage from the previously memorized parking information library if the parking information exists;
the pushing and receiving module is used for pushing all parking information associated with the target garage and receiving a piece of target parking information fed back by a user after the user selects the information based on the pushed all parking information;
the second judgment module is used for judging whether a parking path exists in the target parking information or not;
the first control module is used for controlling the vehicle to run according to the parking path in the target parking information if the target parking information exists;
the determining module is used for comparing parking space information acquired by the image sensing module carried by the vehicle with a parking space number in the target parking information when the vehicle runs to the position near the end point of the parking path in the target parking information, and determining the specific position of the target parking space corresponding to the parking space number in the target parking information;
the second control module is used for controlling the vehicle to park in the target parking space;
in the parking information base, parking paths in different parking information are different; the parking path in the parking information is a path from a specific starting position in the garage to the vicinity of a specific end position based on the vehicle, and the specific end position is a parking space in the corresponding parking information.
9. An automobile comprising the short-range proxy parking device of claim 8.
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