CN112721919B

CN112721919B - Automatic parking method, vehicle and equipment

Info

Publication number: CN112721919B
Application number: CN202110050085.4A
Authority: CN
Inventors: 李振亚
Original assignee: Evergrande New Energy Automobile Investment Holding Group Co Ltd
Current assignee: Evergrande New Energy Automobile Investment Holding Group Co Ltd
Priority date: 2021-01-14
Filing date: 2021-01-14
Publication date: 2022-04-22
Anticipated expiration: 2041-01-14
Also published as: CN112721919A

Abstract

The application provides an automatic parking method, a vehicle and equipment. The method comprises the following steps: firstly, a parking area is constructed and positioned through a preset signal transceiver; then, when an automatic parking instruction triggered by a user is detected, the relative position between the vehicle and a parking area is determined through interaction between the signal transceiver and the vehicle so as to generate a parking route and perform automatic parking, the situation that the user needs to participate in the whole automatic parking process can be avoided, and the automation degree and parking efficiency of the automatic parking are effectively improved.

Description

Automatic parking method, vehicle and equipment

Technical Field

The present invention relates to the field of computer technologies, and in particular, to an automatic parking method, a vehicle, and an apparatus.

Background

Automatic parking means that the automobile is automatically parked in a position without manual control, and more vehicles are provided with automatic parking systems along with the improvement of the intelligent degree of the vehicles.

The current automatic parking scheme generally identifies available parking spaces through a camera of a vehicle, prompts a driver to operate the vehicle to be in a reverse gear, triggers the vehicle to start executing a parking program, and then performs brake-stepping and forward-gear-stepping operations by the driver according to the vehicle prompt until the vehicle enters the parking spaces. However, in practical use, the existing automatic parking scheme has the problems of excessively large parking space, excessively long parking time, high requirement on the definition of parking space marking lines, easiness in occurrence of parking interruption caused by misoperation of a driver during automatic parking, and the like, so that the automatic parking efficiency is even inferior to that of manual parking.

Therefore, it is desirable to provide a more efficient automatic parking solution.

Disclosure of Invention

The embodiment of the application provides an automatic parking method which is used for effectively improving the automation degree and parking efficiency of automatic parking.

The embodiment of the application further provides an automatic parking method, which comprises the following steps:

responding to an automatic parking instruction triggered by a user, and receiving positioning information sent by a parking command device, wherein the parking command device is used for constructing and positioning a parking area;

determining position information of the parking area based on the positioning information;

and generating a parking route based on the position information of the parking area and the position information of the vehicle, and controlling the vehicle to park according to the parking route.

The embodiment of the application also provides a vehicle, which comprises a processor, a sensor and a memory, wherein the sensor and the memory are connected with the processor;

the processor responds to an automatic parking instruction triggered by a user and receives positioning information sent by a parking command device, and the parking command device is used for constructing and positioning a parking area;

the processor determines position information of the parking area based on the positioning information;

the processor acquires the position information of the vehicle sensed by the sensor from the memory, generates a parking route based on the position information of the parking area and the position information of the vehicle, and controls the vehicle to park according to the parking route.

The embodiment of the application also provides an electronic device, which comprises a processor and a memory electrically connected with the processor, wherein the memory is used for storing a computer program, and the processor is used for calling the computer program to execute the method.

Embodiments of the present application also provide a computer-readable storage medium, which stores a computer program, where the computer program can be executed by a processor to implement the above-mentioned method.

According to the embodiment of the application, the parking area is constructed and positioned through the preset signal receiving and sending device, then in the automatic parking process of the vehicle, the relative position between the vehicle and the parking area is determined through interaction between the signal receiving and sending device and the vehicle, so that a parking route is generated and automatic parking is carried out, the situation that the automatic parking needs user participation in the whole process can be avoided, and therefore the automation degree and the parking efficiency of the automatic parking are effectively improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic flow chart of an automatic parking method according to an embodiment of the present application;

fig. 2a is a schematic structural diagram of an L-shaped signal receiving and transmitting device according to an embodiment of the present application;

fig. 2b is a schematic structural diagram of two L-shaped signal receiving and transmitting devices according to an embodiment of the present application;

fig. 3 is a schematic flowchart of a position correction method of a parking guidance apparatus according to an embodiment of the present application;

fig. 4 is a schematic flowchart of a method for automatically exiting a parking area according to an embodiment of the present application;

fig. 5 is a schematic flow chart illustrating an automatic parking method according to another embodiment of the present application;

fig. 6 is a schematic structural diagram of an automatic parking device according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of an automatic parking system according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given in the present application without making any creative effort, shall fall within the protection scope of this document.

The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of an automatic parking method according to an embodiment of the present application, and referring to fig. 1, the method may specifically include the following steps:

step 102, responding to an automatic parking instruction triggered by a user, and receiving positioning information sent by a parking command device, wherein the parking command device is used for constructing and positioning a parking area;

the parking command device has a signal receiving and transmitting function and can perform information interaction with the vehicle.

Before step 102, further comprising: a step of setting a parking command device, which may be specifically exemplified as:

example 1 for the case of an existing parking space

The parking command device is arranged on the lined parking space in advance, the parking command device positions the position information (namely the positioning information) of the parking command device, and the position information can directly or indirectly reflect the position information of the area occupied by the parking space. The installation process of the parking guidance device can be completed before the parking space is used, and the specific installation position can be determined by the positioning capability of the parking guidance device.

For example, the parking command device may include: two L-shaped signal receiving and transmitting devices (see fig. 2a), each of which has the capability of locating position information of an L-shaped area occupied by itself, or has the capability of locating a preset mark point in the L-shaped area occupied by itself, and two connected edges of a parking area can be determined based on the preset mark point, and then the installation positions thereof can be: the two L-shaped signal receiving and transmitting devices are respectively placed at two opposite corners of a parking space in advance to construct a unique rectangular parking area, and send respective positioning information to the vehicle when the vehicle enters an automatic parking state.

For another example, the parking guidance device may include a plurality of small locators each having a capability of locating position information of a point occupied by itself in the coordinate system, and the installation position of the small locators may be: a plurality of small-sized locators are respectively installed on four sides of a parking space so as to ensure that a rectangular parking area corresponding to the parking space is uniquely determined based on the position information of each small-sized locator.

For another example, if the parking command device is a trigger-type projection device, and the trigger-type projection device is configured to project a parking area (corresponding to an existing parking space) on a parking ground in response to a trigger instruction of a user or a vehicle, and send positioning information and relative position information between the trigger-type projection device and the parking area to the vehicle when the vehicle enters an automatic parking state, an installation position of the trigger-type projection device may be: the trigger type projection apparatus is disposed within or near a region where parking is possible.

Example 2 for the case where there is no parking space

After the driver parks, the driver is required to manually trigger to build a parking area. In order to ensure the usability of the manually constructed parking area, the present embodiment further provides a placement scheme of the parking command device, which may specifically be:

for example, taking the two L-shaped signal receiving and transmitting devices as an example, the driver can construct a parking area by placing the two L-shaped signal receiving and transmitting devices on the parking ground. The two L-shaped signal receiving and transmitting devices are connected through a wire harness (see fig. 2b), and the length of the wire harness corresponds to the distance between the oblique wheels of the vehicle. Therefore, when a user places the two L-shaped signal receiving and transmitting devices, a parking area with a proper size can be constructed by straightening the wire harness.

The wire harness can be provided with a plurality of mark points, the lengths of the wire harnesses corresponding to different mark points respectively correspond to the distances between the oblique wheels of the vehicles of different vehicle types, for example, the length of the wire harness corresponding to a first mark point is the same as the distance between the oblique wheels of the common car, the length of the wire harness corresponding to a second mark point is the same as the distance between the oblique wheels of the SUV, the length of the wire harness corresponding to a third mark point is the same as the distance between the oblique wheels of the passenger car, the length of the wire harness corresponding to a fourth mark point is the same as the distance between the oblique wheels of the medium passenger car, and so on, the wire harness can respectively mark the vehicles with the distances between the oblique wheels on the market. Therefore, the application range of the parking command device can be effectively improved.

Furthermore, an indicator light can be arranged on the parking guidance device to show the parking area formed by the parking guidance device from the angle of visibility of the user through the indicator light. Similarly, two L-shaped signal receiving and emitting devices are taken as an example, the two L-shaped signal receiving and emitting devices are used for emitting indication light, for example, indication lamps are respectively installed at two ends of the L-shape to emit 4 indication light, so that the range of the parking area is highlighted.

For another example, the trigger type projection device is provided in or near a region where parking is possible, for example. After the driver parks the vehicle, the trigger type projection device is triggered to project a parking area on the parking ground, and when the vehicle enters an automatic parking state, the positioning information and the relative position information between the trigger type projection device and the parking area are sent to the vehicle.

Based on this, to present vehicle seeking parking stall ability relatively poor, and the space requirement to the parking stall is great, secondly needs the clear condition in parking stall border, this embodiment has proposed through the supplementary parking area that founds of external equipment to send the vehicle with parking area's locating information, so that the vehicle can be clear learn the scope that parking area occupied.

Accordingly, one implementation of step 102 may be:

after the driver parks the vehicle, the automatic parking function of the vehicle is started, the parking command device automatically reports the positioning information of the vehicle, and the vehicle receives the positioning information reported by the parking command device.

In connection with the foregoing examples 1 and 2, since the types of parking spaces are different or the types of parking guidance apparatuses are different, the communication relationship between the two is different. For example, for the parking command device installed in a special parking space, the parking command device and the vehicle can be bound in advance, and automatic one-to-one data interaction between the parking command device and the vehicle is realized; for another example, for the parking command devices installed in the universal parking spaces, there is no binding relationship between the parking command devices and the vehicle, so that when there are multiple parking command devices around the vehicle, one parking command device with the closest position or the shortest parking route can be selected from the position information reported by the multiple parking command devices to establish communication.

104, determining the position information of the parking area based on the positioning information;

specifically, the method comprises the following steps: after the positioning information of the parking commanding device is obtained, the position contained in the positioning information is analyzed, and the position information of the parking area is constructed.

It should be noted that, for the above-mentioned triggered projection apparatus, one implementation manner of step 104 may be:

determining position information of the parking area based on the positioning information and the relative position information.

In addition, for the case that the driver manually constructs the parking area, considering that the constructed parking area may not be available, in order to improve the correction efficiency of the parking area, the embodiment further provides a parking guidance device position correction scheme, referring to fig. 3, which may specifically include:

step 302, determining the position information of the parking area;

step 304, judging whether the parking area is matched with the size of the vehicle;

and step 306, generating position adjustment prompt information of the parking command device based on the position information of the parking command device and the size of the vehicle.

Taking the two L-shaped signal receiving and transmitting devices as an example of a parking command device, if it is detected that a parking area is too small, a first position adjustment prompt message is generated, where the first position adjustment prompt message carries position information that needs to be adjusted by any one of the two L-shaped signal receiving and transmitting devices, and if the position information needs to be placed outwards by 20 cm.

Furthermore, in order to facilitate the user to know the current parking condition, the vehicle can play the position adjustment prompt message in a voice mode, and can also generate a visible parking area map and send the visible parking area map to the user terminal, and the parking command device needing to be moved, the displacement and the direction needing to be moved are indicated on the parking area map.

The user terminal refers to a terminal device used by a user, and may be a mobile terminal or a mobile communication terminal refers to a computer device that can be used in mobile, and broadly includes a mobile phone, a notebook, a tablet computer, a POS machine, and even a vehicle-mounted computer.

And 106, generating a parking route based on the position information of the parking area and the position information of the vehicle, and controlling the vehicle to park according to the parking route.

Specifically, the method comprises the following steps: the vehicle scans and determines the information of the obstacles in the surrounding environment through the radar, and a parking route which avoids the obstacles and enters a parking area is constructed.

In addition, in consideration of real-time variability of road conditions, the present embodiment further provides a parking route correction scheme, which specifically may be:

in the automatic parking process, scanning obstacle information around the vehicle through a vehicle radar; and correcting the parking route based on the obstacle information. Such as: in the automatic parking process, a new obstacle may appear on the current parking route, and the parking route needs to be corrected according to the motion parameters of the new obstacle so as to avoid the new obstacle.

Further, in consideration of the situation that the user finds the vehicle hard, in the embodiment, after the parking is completed, the vehicle also scans the environmental information around the vehicle (such as a 360 ° photo taken from the vehicle position) and sends the environmental information to the user terminal pre-bound to the vehicle, so that the user can find the vehicle according to the environmental information.

In summary, in the embodiment, the preset signal transceiver is used to construct and position the parking area, and then in the process of automatic parking of the vehicle, the relative position between the vehicle and the parking area is determined through interaction between the signal transceiver and the vehicle to generate the parking route and perform automatic parking, so that the situation that the user needs to participate in the whole automatic parking process can be avoided, and the automation degree and parking efficiency of automatic parking can be effectively improved.

On the basis of the above embodiment, the present specification further provides another possible embodiment, in this embodiment, a scheme is provided for a vehicle to automatically move out of a parking area after parking is completed, and referring to fig. 4, the method may specifically include the following steps:

step 402, responding to a remote starting instruction sent by a user through the user terminal, and collecting obstacle information around the vehicle;

step 404, generating a driving route for exiting the parking area based on the obstacle information;

and step 406, based on the driving route, exiting the parking area and sending surrounding environment information to the user terminal.

Specifically, the method comprises the following steps: the user terminal can be connected with the vehicle in advance through the Bluetooth, and when a user needs to drive the vehicle out of a parking area, a remote starting instruction is sent to the vehicle by operating the user terminal; after the vehicle receives the remote starting instruction, acquiring obstacle information around the vehicle through a radar, and planning and generating a driving route which exits the parking area; the vehicle may be parked at a predetermined position near the parking area, such as in front of the parking area, after exiting the parking area.

Further, the user can set a destination position (such as a designated position of a parking lot and a passenger boarding point of an xx subway station) through the user terminal, that is, the destination position can be included in the remote start instruction, and the destination position is located outside the parking area, so that the vehicle can generate a driving route based on the obstacle information and the destination position, and automatically exit the parking area and stop at the destination position according to the driving route.

Based on this, the present embodiment further provides a scheme that the vehicle automatically exits from the parking area on the basis of the embodiment corresponding to fig. 1, which can realize that the vehicle automatically exits from the parking space and inform the user of the surrounding environment information of the vehicle, so that the user can conveniently find the vehicle and reduce the time required for exiting from the parking space, and the vehicle can also automatically travel to the position remotely specified by the user, so that the passengers get on the vehicle and the driver can conveniently find the vehicle.

Fig. 5 is a schematic flow chart of an automatic parking method according to another embodiment of the present application, and referring to fig. 5, the method specifically includes the following steps:

step 502, driving a vehicle into a parking lot;

step 504, the vehicle assists a driver to find a parking space;

specifically, the method comprises the following steps: the vehicle acquires the surrounding vacant parking spaces through the remaining parking space distribution data accessed into the parking lot or through radar scanning, and displays the surrounding vacant parking spaces to the driver; if the driver selects the parking space, the optimal path of the vehicle to the parking space is planned and displayed to the driver.

Step 506, stopping the vehicle by the driver, and starting an automatic parking function;

step 508, the driver gets off and places the stop sign, all passengers get off, the vehicle checks the vehicle state;

the parking mark is marked as the parking command mark in the foregoing, and the specific placement manner thereof has been described in detail in the foregoing, so that the detailed description thereof is omitted here.

The instruction mark can be 2 right-angled signal receiving emitter, the centre links to each other through the pencil (refer to fig. 2a and fig. 2b), the pencil is equivalent with whole car slant wheel distance after stretching, signal transmitting device can send the border pilot lamp equivalent with the vehicle size, make things convenient for the passenger to confirm the parking stall size, can send position and angle information with the vehicle, through the supplementary obstacle information of automobile body radar, the final completion vehicle is parked, the final parking instruction mark position will be the wheel below, prevent to lose, after the vehicle stops steadily completely, the instruction mark will close the border pilot lamp automatically.

Step 510, a driver confirms automatic parking operation through a mobile phone;

step 512, locking the vehicle door, starting parking operation and enabling the driver to leave;

after the driver confirms the automatic parking operation, the door is locked, and the parking starting action is automatically completed.

Step 514, modifying parking action through interaction with a parking sign;

specifically, the method comprises the following steps: the parking process is completely finished under the guidance of a parking indicator by a vehicle, a command indicator transmits own position and angle parameters to the vehicle, the vehicle calculates the space and the angle of a parking space according to the parameters, parking route calculation is carried out by combining the data of a position sensor of the vehicle, position measurement is carried out on the parameters continuously transmitted by the command indicator and the parameters of the vehicle during the vehicle traveling, the parameters are compared with the positions of the routes carried out before, the posture of the vehicle is corrected, obstacle avoidance is carried out by matching with a vehicle body radar, other operations of a driver in the vehicle are not needed, and the automatic parking of the vehicle is finally finished. And after the vehicle stops, the scanned surrounding environment is sent to the mobile phone of the vehicle owner.

Moreover, the interaction between the vehicle and the indicator in the parking process is point-to-point small-range signal transmission, network access is not needed, and various problems caused by poor network signals are prevented.

Step 516, stopping the vehicle after the vehicle reaches the stop sign indicating position;

step 518, the vehicle closes all windows, shuts power and retracts the rearview mirror.

Specifically, the method comprises the following steps: the method has the advantages that a driver is reminded to close the car door before parking, the closed state of the car door is checked before the car starts to park, the driver is reminded to close the car door if the car door is not closed, and the car is locked again after the car parking action is finished, so that property loss is prevented.

Optionally, when driver and passenger return the parking area, the driver can roll off the parking stall through cell-phone remote control vehicle to shoot the surrounding environment through the camera and send to the driver, whistling the flashing light when sensing that the driver is close and remind, save the time that the driver rolled off and waited for.

Optionally, the vehicle is activated by touching the vehicle through a mobile phone at a place with a poor signal, and the vehicle is controlled to automatically run out.

Therefore, the vehicle positioning command device replaces a common reversing commander, can prompt the next required action of the vehicle, and improves the reversing efficiency of a novice driver; moreover, the parking space does not need to have recognition capability, so that the functions of the camera are reduced, and the cost is reduced; the parking of the vehicle is realized through the information interaction of the vehicle radar and the indication mark, the influence of optical change on the optical camera is avoided, and the reliability is higher. The parking indication mark can be installed on a parking space in a later-stage developed community, or a road guide mark with the same principle is developed, so that the owner's vehicle can realize the full automatic driving in the community. The convenience is brought to the owners for going out. This embodiment still can not need the driver just can accomplish all actions of parkking in the car, and the driver can freely command this period of time, has reduced driver's driving burden, reduces the driver and loses the time of parkking, promotes driver's the driving experience to the vehicle. Moreover, the scheme that the driver exits the parking space is also adopted in the embodiment, so that the situation that the driver cannot get on or off the vehicle due to the small space of the parking space is prevented.

Fig. 6 is a schematic structural diagram of an automatic parking device according to an embodiment of the present application, and referring to fig. 6, the device may specifically include the following steps:

the system comprises a receiving module 601, a parking command device and a control module, wherein the receiving module 601 is used for responding to an automatic parking instruction triggered by a user and receiving positioning information sent by the parking command device, and the parking command device is used for constructing and positioning a parking area;

a determining module 602, configured to determine location information of the parking area based on the positioning information;

the processing module 603 is configured to generate a parking route based on the location information of the parking area and the location information of the vehicle, and control the vehicle to park according to the parking route.

Optionally, the parking command device includes: two L-shaped signal receiving and transmitting devices;

the two L-shaped signal receiving and transmitting devices are respectively placed on the parking ground in advance to form two opposite angles of a parking area, and send respective positioning information to the vehicle when the vehicle enters an automatic parking state.

Optionally, the two L-shaped signal receiving and transmitting devices are connected through a wire harness, and the length of the wire harness corresponds to the distance between the oblique wheels of the vehicle.

Optionally, the two L-shaped signal receiving and emitting devices are used for emitting an indication light to highlight the range of the parking area.

Optionally, the parking command device is a triggered projection device, and the triggered projection device is configured to project a parking area on a parking ground in response to a triggering instruction of a user or a vehicle, and send positioning information and relative position information between the triggered projection device and the parking area to the vehicle when the vehicle enters an automatic parking state;

the determining module 602 is specifically configured to:

Optionally, the apparatus further comprises:

the route correction module is used for scanning obstacle information around the vehicle through a vehicle radar in the automatic parking process; and correcting the parking route based on the obstacle information.

Optionally, the apparatus further comprises:

and the environment display module is used for scanning the environment information around the vehicle and sending the environment information to the user terminal pre-bound by the vehicle after parking is finished.

Optionally, the apparatus further comprises:

the acquisition module is used for responding to a remote starting instruction sent by a user through the user terminal and acquiring the information of obstacles around the vehicle;

the generating module is used for generating a driving route for driving out of the parking area based on the obstacle information;

and the processing module is used for driving out the parking area and sending the surrounding environment information to the user terminal based on the driving route.

Based on this, in the embodiment, the preset signal transceiver is used for constructing and positioning the parking area, and then in the automatic parking process of the vehicle, the relative position between the vehicle and the parking area is determined through interaction between the signal transceiver and the vehicle, so as to generate the parking route and perform automatic parking, thereby avoiding the situation that the user needs to participate in the whole automatic parking process, and effectively improving the automation degree and parking efficiency of the automatic parking. Further, it should be noted that, in the respective components of the apparatus of the present application, the components therein are logically divided according to the functions to be realized, but the present application is not limited thereto, and the respective components may be newly divided or combined as necessary.

Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application, and referring to fig. 7, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include hardware required by other services. The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the automatic parking device on the logic level. Of course, besides the software implementation, the present application does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may also be hardware or logic devices.

The network interface, the processor and the memory may be interconnected by a bus system. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 7, but this does not indicate only one bus or one type of bus.

The memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both read-only memory and random access memory, and provides instructions and data to the processor. The Memory may include a Random-Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least 1 disk Memory.

The processor is used for executing the program stored in the memory and specifically executing:

The method executed by the automatic parking device or manager (Master) node according to the embodiment shown in fig. 6 of the present application may be implemented in or by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.

The automatic parking device may also execute the methods of fig. 1-5 and implement the methods executed by the administrator node.

Based on the same invention, the embodiment of the present application further provides a computer-readable storage medium storing one or more programs, which when executed by an electronic device including a plurality of application programs, cause the electronic device to execute the automatic parking method provided by the embodiment corresponding to fig. 1 to 5.

Fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application, referring to fig. 8, where the vehicle includes a processor 801, a sensor 802 electrically connected to the processor 801, and a memory 803;

the processor 801 responds to an automatic parking instruction triggered by a user, and receives positioning information sent by a parking command device, wherein the parking command device is used for constructing and positioning a parking area;

the processor 801 determines position information of the parking area based on the positioning information;

the processor 801 acquires the position information of the vehicle sensed by the sensor 802 from the memory 803, generates a parking route based on the position information of the parking area and the position information of the vehicle, and controls the vehicle to park according to the parking route.

the processor 801 is specifically configured to:

Optionally, the processor 801 is further configured to:

responding to a remote starting instruction sent by a user through the user terminal, and acquiring obstacle information around the vehicle; generating a driving route for exiting the parking area based on the obstacle information; and driving out the parking area and sending surrounding environment information to the user terminal based on the driving route.

Based on this, in the embodiment, the preset signal transceiver is used for constructing and positioning the parking area, and then in the automatic parking process of the vehicle, the relative position between the vehicle and the parking area is determined through interaction between the signal transceiver and the vehicle, so as to generate the parking route and perform automatic parking, thereby avoiding the situation that the user needs to participate in the whole automatic parking process, and effectively improving the automation degree and parking efficiency of the automatic parking.

Fig. 9 is a schematic structural diagram of an automatic parking system according to an embodiment of the present application, and referring to fig. 9, the system may specifically include: a vehicle 901, and a director 902 and a controller 903 connected to the vehicle 901, wherein:

the vehicle 901 collects information such as the position, speed, angle, and the like of the vehicle 901 by a sensor, and supplies the information to the controller 903. The sensor can be an auxiliary sensor which is hung on the outside of a user after the vehicle leaves a factory.

The director 902 can be the parking directing device described above for constructing and positioning the parking area, and the detailed description thereof is described in the embodiment corresponding to fig. 1, and therefore, the detailed description thereof is omitted here. It should be noted that the director 902 may establish direct communication with the controller 903, send the positioning information directly to the controller 903, or send the positioning information to the controller 903 through the vehicle 901.

The controller 903 may be an auxiliary tool for a user to hang on the vehicle by himself after the vehicle leaves a factory, and is configured to obtain the positioning information provided by the director 902 and the position information of the vehicle acquired by the sensor, and determine the position information of the parking area constructed by the director 902 based on the positioning information, so as to generate a parking route according to the position information of the vehicle and the position information of the parking area; then, a driving instruction is sent to the vehicle 901 according to the parking route so that the vehicle drives according to the parking route until the vehicle enters the parking area, or the parking route is sent to the vehicle 901, and the central control of the vehicle 901 controls the vehicle to enter the parking area according to the parking route.

Optionally, the vehicle 901 may also scan obstacle information around the vehicle through a vehicle radar and provide the obstacle information to the controller 903, and the controller 903 performs planning according to the position information of the vehicle, the position information of the parking area, and the obstacle information when planning the parking route so as to avoid the obstacle. The obstacle information includes position information of an area from which the obstacle is present.

In addition, in consideration of the security problems of the plug-in sensor and the controller, the embodiment also verifies the legitimacy of the plug-in sensor and the controller, including but not limited to verifying the legitimacy according to the unique device identifier of the plug-in sensor and the controller, authenticating according to the manufacturer of the device and the authority of the manufacturer to access the vehicle, and the like.

Based on this, the embodiment allows the relevant auxiliary sensors and the controller 903 to be connected to the vehicle in an external hanging manner to assist the vehicle to realize the automatic parking function, and the relevant sensors and the controller 903 do not need to be integrated into the vehicle, so that on one hand, the vehicle which leaves the factory but does not integrate the relevant auxiliary sensors and the controller can be conveniently transformed in the future, the vehicle also has the automatic parking capability, and the transformation operation is simple, convenient, efficient and wide in application range; on the other hand, the number of integrated hardware needed by the vehicle can be effectively reduced, and the hardware layout of the vehicle is friendly.

The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The foregoing description of specific embodiments of the present application has been presented. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the present application.

Claims

1. An automatic parking method, characterized by comprising:

generating a parking route based on the position information of the parking area and the position information of the vehicle, and controlling the vehicle to park according to the parking route;

the parking command device includes: two L-shaped signal receiving and transmitting devices;

the two L-shaped signal receiving and transmitting devices are respectively placed on the parking ground in advance to form two opposite angles of a parking area, and send respective positioning information to the vehicle when the vehicle enters an automatic parking state;

the two L-shaped signal receiving and transmitting devices are connected through a wire harness, and the length of the wire harness corresponds to the distance between the oblique wheels of the vehicle; when a user places two L-shaped signal receiving and transmitting devices, a parking area with a proper size is constructed by straightening a wire harness; the wire harness is provided with a plurality of marking points, the lengths of the wire harnesses corresponding to different marking points respectively correspond to the distances between the oblique wheels of the vehicles of different vehicle types, and the marking is respectively carried out on the vehicles with the distances between the oblique wheels on the market;

and if the parking area is detected to be too small, generating first position adjustment prompt information, wherein the first position adjustment prompt information carries position information required to be adjusted by any one of the two L-shaped signal receiving and transmitting devices.

2. The automatic parking method according to claim 1,

the two L-shaped signal receiving and transmitting devices are used for emitting indicating light so as to highlight the range of the parking area.

3. The automatic parking method according to claim 1,

the parking command device is a trigger type projection device, and the trigger type projection device is used for projecting a parking area on the parking ground in response to a trigger instruction of a user or a vehicle and sending positioning information and relative position information between the trigger type projection device and the parking area to the vehicle when the vehicle enters an automatic parking state;

wherein the determining the location information of the parking area based on the positioning information comprises:

4. The automatic parking method according to claim 1, further comprising:

in the automatic parking process, scanning obstacle information around the vehicle through a vehicle radar;

and correcting the parking route based on the obstacle information.

5. The automatic parking method according to claim 1, further comprising:

after parking is completed, environmental information around the vehicle is scanned and sent to the user terminal to which the vehicle is pre-bound.

6. The automatic parking method according to claim 5, further comprising:

responding to a remote starting instruction sent by a user through the user terminal, and acquiring obstacle information around the vehicle;

generating a driving route for exiting the parking area based on the obstacle information;

and driving out the parking area and sending surrounding environment information to the user terminal based on the driving route.

7. A vehicle, characterized in that the vehicle comprises a processor, and a sensor and a memory which are connected with the processor;

the processor acquires the position information of the vehicle sensed by the sensor from the memory, generates a parking route based on the position information of the parking area and the position information of the vehicle, and controls the vehicle to park according to the parking route;

8. An electronic device, comprising a processor and a memory electrically connected to the processor, the memory configured to store a computer program, the processor configured to invoke the computer program to perform the method of any of claims 1-6.