CN113788009A

CN113788009A - Method and device for indicating parking mode and electronic equipment

Info

Publication number: CN113788009A
Application number: CN202110995006.7A
Authority: CN
Inventors: 简惠灵; 魏鹏飞; 宋佳; 李欣静
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2021-08-27
Filing date: 2021-08-27
Publication date: 2021-12-14
Anticipated expiration: 2041-08-27
Also published as: CN113788009B

Abstract

The disclosure provides a method and a device for indicating a parking mode and an electronic device. The disclosure relates to the technical field of autonomous parking, and in particular to a method and a device for indicating a parking mode and an electronic device. The specific implementation scheme is as follows: determining a parking-in state that the vehicle is at a parking-in position or a parking-out state that the vehicle is at a parking-out position; selecting a target parking mode from a set of predetermined parking modes that can be used to control the parking of the vehicle into or out of the parking location based on the information associated with the parking location; and providing an indication of the target parking mode.

Description

Method and device for indicating parking mode and electronic equipment

Technical Field

The disclosure relates to the technical field of autonomous parking, and in particular to a method and a device for indicating a parking mode and an electronic device.

Background

With the development of autonomous parking technology, more and more automatic or autonomous parking modes can be supported by vehicles. The autonomous parking mode may provide great convenience when a driver needs to park a vehicle into or out of a parking location. When parking is required, the driver needs to call up a selection interface and select an autonomous parking mode suitable for the current driving situation.

Disclosure of Invention

The present disclosure provides a method, apparatus, device, and storage medium for determining a target parking pattern.

According to an aspect of the present disclosure, there is provided a method of determining a parking mode, including: determining a parking-in state that the vehicle is at a parking-in position or a parking-out state that the vehicle is at a parking-out position; selecting a target parking mode from a set of predetermined parking modes that can be used to control parking of the vehicle into or out of the parking location based on information associated with the parking location; and providing an indication of the target parking mode.

According to a second aspect of the present disclosure, there is provided a method of determining a parking mode, comprising: receiving an indication of a target parking mode, wherein the indication is obtained by performing a method according to the first aspect of the present disclosure; determining a target parking mode according to the instruction; and presenting the target parking mode to the driver.

According to a third aspect of the present disclosure, there is provided an apparatus for indicating a parking mode, comprising: the parking determining module is configured to determine that the vehicle is in a parking-in state at a parking-in position or a parking-out state at a parking-out position; a mode selection module configured to select a target parking mode from a set of predetermined parking modes that is usable to control parking of a vehicle into or out of a parking location based on information associated with the parking location; and an indication providing module configured to provide an indication regarding the target parking mode.

According to a fourth aspect of the present disclosure, there is provided an apparatus for presenting a parking mode, comprising: an indication receiving module configured to receive an indication of a target parking mode, wherein the indication is obtained by performing a method according to a first aspect of the present disclosure; a mode determination module: configured to determine a target parking mode based on the indication; and a mode presentation module configured to present the target parking mode to the driver.

According to a fifth aspect of the present disclosure, there is provided an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method according to the first aspect of the disclosure.

According to a sixth aspect of the present disclosure, there is provided an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method according to the second aspect of the disclosure.

According to a seventh aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method according to the first aspect of the present disclosure.

According to an eighth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method according to the second aspect of the present disclosure.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a schematic illustration of a parking scenario in which embodiments of the present disclosure may be implemented;

fig. 2 is a flow chart of an example determination method according to an embodiment of a first aspect of the present disclosure;

FIG. 3 is a flow chart of a method of determining a parking mode according to an example of the disclosed embodiment;

fig. 4 is a flow chart of an example determination method according to an embodiment of a second aspect of the present disclosure;

fig. 5 is a block diagram of an example determination apparatus according to an embodiment of a third aspect of the present disclosure;

fig. 6 is a block diagram of an example determination apparatus according to an embodiment of a fourth aspect of the present disclosure; and

fig. 7 is a block diagram of an electronic device for implementing the indication method of the disclosed embodiments.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Example scenarios

FIG. 1 illustrates a schematic diagram of a parking scenario 100 in which an embodiment of the present disclosure may be implemented. As shown in fig. 1, the parking scene 100 includes the driver 100, a first vehicle 121 located in a first parking location 151, a second vehicle 122 located in a second parking location 152, and a third vehicle 123 located in a third parking location 153, and the first vehicle 121, the second vehicle 122, and the third vehicle 123 are all communicatively connected to a computing device 160. Also shown in fig. 1, are a first predetermined geographic range 141 and its corresponding first autonomous parking route 131, a second predetermined geographic range 142 and its corresponding second autonomous parking route 132, and a third predetermined geographic range 143 and its corresponding third autonomous parking route 133.

The predetermined geographic range may be referred to as a geofence, for example. The geofence is bounded by a virtual fence to define a virtual geographic boundary within which the vehicle can receive corresponding information as it enters or exits the range, or as it moves within the range. The geofence information may be actively acquired after vehicle start-up, for example. Geofence information from the computing device segments and vehicle terminals may be obtained, for example, through timed pushes at the cloud. The geofence information may include a stored (unique) ID of the autonomous parking route, a map, GPS information, and the like. When the geo-fence information is updated, the local geo-fence information will be correspondingly updated.

All vehicles shown in fig. 1, for example, support three Parking modes, namely an automatic Parking assist apa (automatic Parking assist) mode, a memory Parking mode havp (home automatic Valet Parking) mode, and a Valet Parking mode pavp (public automatic Valet Parking), and each Parking mode supports Parking a vehicle out of and into a Parking location. For example, the park mode may be supported by computing device 160. The computing device 110 may be any suitable computing device, whether centralized or distributed, including but not limited to personal computers, servers, clients, hand-held or laptop devices, multiprocessors, microprocessors, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed clouds, combinations thereof, and the like.

The APA automatic parking assist system is used for sensing the surrounding environment by using the ultrasonic radar when a vehicle is cruising at a low speed, helping a driver to find an empty parking position with a proper size, assisting the driver to park the vehicle into the parking position after the driver sends an automatic parking assist instruction, or assisting the driver to park the vehicle out of the parking position when the ultrasonic radar senses that the vehicle is in the parking position.

HAVP is also known as self-learning parking. First, the vehicle needs to learn a particular parking route. The driver turns on the "parking route learning" function at the start of the parking route, and then parks the vehicle in a fixed parking location, the vehicle autonomously learns the travel and parking route and remembers it in "memory". After the learning of the parking route is completed, the vehicle can imitate the previously learned parking route to complete automatic parking in and parking out.

PAVPs are automated valet parking vehicles typically used in public areas, where the primary application is typically in an office building or a mall above or below ground parking lot. For example, after a vehicle gets in a particular location at an entrance of a parking lot, a parking route is determined based on information obtained from a vehicle terminal or based on information from a parking lot end and autonomously parked in available parking places in the parking lot.

As shown in fig. 1, for the first vehicle 121, the driver 110 now wants to park the first vehicle 121 out of the first parking location 151. After the power-on start of the first vehicle 121, the first vehicle 121 detects that it is located in the first predetermined geographical range 141 and the second predetermined geographical range 142, which are indicated by dashed lines, and that the first vehicle 121 has been located in the parking position is detected by the vehicle radar. The geographic range information associated with the first predetermined geographic range 141 indicates that the vehicle may be parked out of the first parking location 151 in the HAVP parking mode via the first autonomous parking route 131, and the geographic range information associated with the second predetermined geographic range 142 indicates that the vehicle may be parked out of the first parking location 151 in the PAVP parking mode via the second autonomous parking route 132. Since it has been detected that the first vehicle 121 is already located in the parking space, the driver 110 can also park the first vehicle 121 out of the parking space by means of assistance in the APA mode. Since the position of the driver 110 is not at the end of the second autonomous parking route 132 at this time, the driver 110 preferably parks the first vehicle 121 out in the HAVP mode and drives it to the position of the driver 110.

On the other hand, the second vehicle 122, after entering the parking area, travels to the side of the second parking location 152 and detects by the vehicle radar that the second parking location 152 is available, while the second vehicle 122 is not within any predetermined geographic range, i.e., no autonomous parking route is available for the second vehicle 122. At this time, the second vehicle 122 may be parked in the second parking location 152 via the APA mode.

On the other hand, the third vehicle 123 detects that the second predetermined geographical range 142 and the third predetermined geographical range 143 have been entered while traveling to the entrance of the parking area. The geographic range information associated with the third predetermined geographic range 143 indicates that the third vehicle 123 may be parked in the third parking location 153 via the third autonomous parking route 133 via the HAVP mode. Since the first parking location 151 indicated by the second autonomous parking route 132 is not available, the geographic range information associated with the second predetermined geographic range 142 indicates that the third vehicle 153 may be parked in the fourth parking location 154 via one branch of the second autonomous parking route 132 in the PAVP mode. It should be appreciated that upon entering the PAVP parking mode, the vehicle will receive real-time parking and control information to safely park into the parking location, and that in PAVP mode, the autonomous parking route is not fixed, and may be updated in real-time based on availability information of the current parking location. It should be understood that the predetermined geographic range shown herein indicates an example, the predetermined geographic range may have a radius of about 100, for example, centered on the end of the autonomous parking route, so that the vehicle can obtain the corresponding predetermined geographic range information before entering the parking area.

In the case shown in fig. 1, the driver 110 may have a variety of choices, but the driver 110 needs to judge by himself which mode is available or which mode is more preferable. In order to select the parking mode more efficiently and intelligently, the present disclosure proposes a scheme for determining a target parking mode. According to an aspect of the present disclosure, a target parking mode selected from a set of predetermined parking modes may be selected by a computing device based on information associated with a parking location when it is determined that a vehicle is in a parked state to be parked from the parking location after startup or a parked state in which the vehicle is to arrive at a destination parked location. Based on the information relating to the parking position, a parking mode that relatively corresponds to the situation of the current parking position can be selected from among the predetermined parking modes, thereby facilitating subsequent use by the driver. For example, after learning the selectable target parking mode, the driver can select the target parking mode to park without self-judgment, and selection of a parking mode which is not suitable for use is avoided.

A method of determining a parking mode according to the present disclosure will be discussed below with reference to fig. 2 to 4.

Fig. 2 is a flow chart of an example determination method 200 according to an embodiment of the present disclosure. Method 200 may be performed, for example, by computing device 160 in fig. 1.

As shown in fig. 2, at block 202, it is determined by the computing device 160 that the vehicle is in a parked state or a parked state. In some embodiments, the travel state of the vehicle may be determined based on the current trip of the vehicle and the current vehicle speed. For example, when the vehicle has just started and the current trip after the start is less than the threshold trip, it is determined that the vehicle is in the parked state. For example, the vehicle is determined to be in the parked state when the current vehicle speed of the vehicle is less than the threshold speed and the current trip of the vehicle is greater than the threshold trip. In some embodiments, the threshold trip may be a maximum HAVP route distance supported by the vehicle. Within the threshold trip, the vehicle may be considered to be in a state of being departed. In some embodiments, the threshold speed may be 25 kilometers per hour. In some embodiments, the determination of the vehicle driving status may be determined by the computing device 160 according to the received vehicle driving parameters, or the vehicle driving status may be reported to the computing device 160 after the vehicle determines the vehicle driving parameters. In this way, it is possible to efficiently determine the state in which the vehicle is able to use the plurality of parking modes.

At block 204, a target parking mode that may be used to control parking of the vehicle into or out of the parking location is selected by the computing device 160 from a set of predetermined parking modes based on information associated with the parking location. The detailed process of selecting the target parking mode will be described in detail below with reference to fig. 3.

In some embodiments, the information associated with the parking locations may include historical parking information for the vehicle for the parking locations. The historical parking information for the vehicle for the parking location may be a parking history that the vehicle previously used at the particular parking location. The vehicle will be recorded in the cloud or locally after each use of the autonomous parking mode or the automatic parking assist mode. The information associated with the parking location may also include parking location detection information that detects the presence of an available parking location for the vehicle or that the vehicle is in a parking location. Generally, vehicles have the use of radar to detect the surroundings, as well as the distance to the surroundings. By means of the information from the radars in several different locations, the vehicle can determine whether there are available parking locations around or whether the vehicle is located in a parking location. The determination may be performed by the vehicle or by the computing device. The information associated with the parking location may also include geographic range information associated with the parking location, wherein the geographic range information indicates an autonomous parking route associated with the parking location, a predetermined geographic range covering the autonomous parking route, and an autonomous parking mode. The geographical range information may be, for example, the geofences discussed with reference to fig. 1. The geographic range information identifies available autonomous parking routes and parking patterns for the berth locations within the range. In some embodiments, the parking-out mode may be selected first based on historical parking information, and when the historical parking information does not indicate an available parking-out mode, the selection may be made based on the geographical range information and the parking location detection information. In some embodiments, the selection may be made directly based on the geographical range information and the parking location detection information, without considering historical parking information, when selecting the parking mode.

In this manner, the selection of the target parking location may be made more complete by considering one or more types of information associated with the parking locations.

At block 206, an indication of a target parking mode is provided by the computing device 160. For example, where computing device 160 is a server device, it may provide an indication to the terminal device regarding the target parking mode.

In this way, based on one or more types of parking information associated with the parking location to be parked or parked, a parking pattern available for the current scene can be efficiently and intelligently selected, thereby providing great convenience to the driver.

FIG. 3 is a flowchart of an example method 300 of determining a parking mode according to an embodiment of the present disclosure. Method 300 may be performed, for example, by computing device 160.

At block 302, it is determined by the computing device 160 whether the vehicle is in a parked state.

In the event that it is determined that the vehicle is in a parked state, historical parking information is obtained by the computing device 160 at block 304.

At block 306, a determination is made whether the historical parking information indicates that the vehicle was using a particular parking mode the previous time it was parked in the parking location.

In the event that the historical parking information indicates that a particular parking mode was used, the particular parking mode is selected as the target parking mode at block 308.

In general, if a specific parking mode was used when the vehicle was previously parked in the parking position, the vehicle can be correspondingly parked out of the parking position using the same parking mode, in particular using the same parking route. In this way, the available target parking patterns are efficiently determined from the historical parking information.

If it is determined that the vehicle is not in a parked state, the method 300 proceeds to block 310 where it is determined by the computing device 160 whether the vehicle is in a parked state. If it is determined that the vehicle is not in the out-of-park condition, the process proceeds to block 332, where it may be determined that the vehicle is in an in-transit condition, for example, and no parking is required. At block 332, the method 300 ends.

Otherwise, the method 300 proceeds to block 312 if it is determined that the vehicle is in a parked state or if it is determined that the historical parking information does not indicate that the vehicle is using the particular parking mode. At block 312, at least one geographic range information is obtained by computing device 160. For example, after the vehicle is started, the geographical range information may be received over a network, or read from memory that is stored locally on the vehicle.

At block 314, it is determined by computing device 160 whether the current location of the vehicle is within at least one predetermined geographic range indicated by the at least one geographic range information. For example, the computing device 160 may compare based on the current GPS location information of the vehicle and traverse through all of the obtained geographic range information to accurately determine whether the vehicle is currently located in one or more predetermined geographic ranges.

If it is determined that the current location of the vehicle is within at least one predetermined geographic range, an autonomous parking route that matches the current travel route of the vehicle is determined by computing device 160 from at least one autonomous parking route covered by the at least one predetermined geographic range at block 316. For example, after the vehicle enters a predetermined geographic range, positioning initialization may be performed, and a parking route indicated by the geographic range information may be preprocessed to determine whether it satisfies the current driving state. For example, it is determined whether the current travel route of the vehicle can reach the start point of the parking route, and the destination corresponds to the end point of the parking route.

In some embodiments, if it is determined that the current location is not within any predetermined geographic range, the current location of the vehicle may be updated at predetermined intervals; and re-determining whether the vehicle is located within the predetermined geographic range after the current location is updated. For example, the update of the current position of the vehicle can be continued until the vehicle enters a predetermined geographical range, or the vehicle changes the driving state, i.e. no parking is required anymore.

In this way, the relative relationship of the vehicle to the predetermined geographic area can be continuously monitored so that subsequent steps can be performed in a timely manner.

At block 318, it is determined by the computing device 160 whether only one autonomous parking route matches.

If it is determined that only the first autonomous parking route matches, an autonomous parking mode corresponding to the first autonomous parking route is selected by the computing device 160 as the target parking mode at block 320.

In this way, the available autonomous parking patterns can be efficiently determined from the geographical range information.

If it is determined that there is not only one or no match for the autonomous parking routes, at block 322, it is determined whether there is a set of autonomous parking routes matching.

If it is determined that a set of autonomous parking routes match, at block 324, an autonomous parking mode that the vehicle last used is selected by the computing device 160 from a set of autonomous parking modes corresponding to the set of autonomous parking routes as the target parking mode.

In the case where it is determined that there is a set of autonomous parking route matches, all of the autonomous parking patterns involved need to be determined, and further selection may be made through historical parking information. For example, the selection may also be made by the frequency of use of a particular autonomous parking mode. In this way, an available autonomous parking mode can be efficiently determined.

If it is determined that the current location of the vehicle is not within any predetermined geographic range or that the current travel route does not match any autonomous parking route, parking location detection information is obtained by the computing device 160 at block 326. When the vehicle is determined to be in the out-of-park state or the in-park state, the vehicle can simultaneously start the radar to acquire the surrounding parking position condition. For example, a parking location situation may include a detection by radar that the vehicle has been located in a parking location in a parked state, or that the vehicle has detected an available empty parking location in a parked state.

At block 328, it is determined by the computing device 160 whether the vehicle is in a parked state and the parking location detection information indicates that the vehicle is located in the detected available parking location, or whether the vehicle is in a parked state and the parking location detection information indicates that an available parking location is detected.

If it is determined that the automatic parking assist mode is selected by the computing device 160 at block 330 in response to the vehicle being in the out-of-park state and the parking location detection information indicating that the vehicle is located in the detected available parking location, or the vehicle being in the in-park state and the parking location detection information indicating that the available parking location is detected.

In this way, the APA parking mode can be determined by the parking position detection information when no autonomous parking route is available.

Fig. 4 shows a flow chart of an example determination method 400 according to an embodiment of the second aspect of the present disclosure. The method 400 may be performed by a vehicle terminal or a user terminal, for example.

At block 402, an indication of a target parking mode is received by a terminal device. The indication is obtained by performing a method according to the first aspect of the present disclosure.

At block 404, a target parking mode of the target parking mode pool is determined by the terminal device based on the indication.

At block 406, the driver is presented with the target parking mode by the terminal device.

In this way, the target parking mode can be recommended to the driver in time based on the received instruction, further bringing great convenience to the driver.

In some embodiments, the target parking pattern may be presented to the driver by voice.

In some embodiments, the parking mode recommendation is valid until the vehicle switches state after each time the vehicle is determined to be in or to be parked, and only presented once in the meantime.

In some embodiments, after presenting the target parking mode, a parking route corresponding to the target parking mode may also be presented.

In some embodiments, driver feedback is obtained and used for data statistics along with the presented target parking patterns.

Fig. 5 is a block diagram of an example determination apparatus 500 in accordance with an embodiment of the present disclosure.

As shown in fig. 5, the apparatus 500 for determining a parking mode includes a parking determination module 502 configured to determine whether a vehicle is in a parked state at a parking position or in an out-parked state at a parking position. The apparatus 500 for indicating a parking mode further comprises a mode selection module 504 configured to select a target parking mode from a set of predetermined parking modes that is available for controlling the parking of the vehicle into or out of the parking location based on information associated with the parking location. The apparatus 500 for indicating a parking mode further includes an indication providing module 506 configured to provide an indication of a target parking mode.

Fig. 6 is a block diagram of an example determination apparatus 600 according to an embodiment of a fourth aspect of the present disclosure.

The apparatus 600 comprises an indication receiving module 602 configured to receive an indication of a target parking mode, wherein the indication is obtained by performing a method according to the first aspect of the present disclosure. The apparatus 600 also includes a mode presentation module 604 configured to determine a target parking mode based on the indication. The apparatus 600 also includes a mode presentation module 606 configured to present the target parking mode to the driver.

It is to be understood that the advantages of the method according to the present disclosure are equally applicable to the device corresponding to the method.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information of the driver are all in accordance with the regulations of related laws and regulations, and do not violate the good customs of the public order.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

An electronic device includes: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method according to the first aspect or the second method of the present disclosure.

A non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform a method according to the first or second aspect of the present disclosure.

FIG. 7 illustrates a schematic block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 7, the device 700 comprises a computing unit 701, which may perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM)702 or a computer program loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

Various components in the device 700 are connected to the I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, or the like; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

Computing unit 701 may be a variety of general purpose and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The computing unit 701 performs the various methods and processes described above, such as the

methods

200, 300, and 400. For example, in some embodiments,

methods

200, 300, and 400 may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 708. In some embodiments, part or all of a computer program may be loaded onto and/or installed onto device 700 via ROM 702 and/or communications unit 709. When the computer program is loaded into RAM 703 and executed by the computing unit 701, one or more steps of the

methods

200, 300 and 400 described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured to perform the

methods

200, 300, and 400 by any other suitable means (e.g., by way of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a driver, the systems and techniques described herein may be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the driver; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a driver can provide input to the computer. Other kinds of devices may also be used to provide for interaction with the driver; for example, feedback provided to the driver can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the driver may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a driver computer having a graphical driver interface or a web browser through which a driver can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A method of determining a parking mode, comprising:

determining a parking-in state that the vehicle is at a parking-in position or a parking-out state that the vehicle is at a parking-out position;

selecting a target parking mode from a set of predetermined parking modes that is available to control the vehicle to park in or out of the parking location based on information associated with the parking location; and

providing an indication of the target parking mode.

2. The method of claim 1, wherein the information associated with the parking location includes one or more of:

historical parking information of the vehicle for the parking location;

detecting that there is an available parking location for the vehicle or parking location detection information that the vehicle is in a parking location; and

geographic range information associated with the parking location, wherein the geographic range information indicates an autonomous parking route associated with the parking location, a predetermined geographic range covering the autonomous parking route, and an autonomous parking mode.

3. The method of claim 2, wherein selecting a target parking mode from a set of predetermined parking modes available to control parking of the vehicle into or out of the parking location comprises:

in response to determining that the vehicle is in a to-be-parked state, obtaining the historical parking information; and

selecting a particular parking mode as the target parking mode in response to determining that the historical parking information indicates that the vehicle used a particular parking mode when previously parked in the parking location.

4. The method of claim 3, wherein selecting a target parking mode from a set of predetermined parking modes available to control parking of the vehicle into or out of the parking location further comprises:

in response to determining that the vehicle is in the to-be-parked state or that the historical parking information does not indicate that the vehicle uses the specific parking mode, obtaining at least one piece of geographic range information;

in response to determining that the current location of the vehicle is within at least one of the predetermined geographic ranges indicated by the at least one of the geographic range information, determining an autonomous parking route from at least one of the autonomous parking routes covered by the at least one of the predetermined geographic ranges that matches the current travel route of the vehicle;

in response to determining that only a first autonomous parking route matches, selecting a first autonomous parking mode corresponding to the first autonomous parking route as the target parking mode.

5. The method of claim 4, wherein selecting a target parking mode from a set of predetermined parking modes available to control parking of the vehicle into or out of the parking location further comprises:

in response to determining that a set of autonomous parking routes match, selecting, as the target parking mode, an autonomous parking mode that was last used by the vehicle from a set of autonomous parking modes corresponding to the set of autonomous parking routes.

6. The method of claim 4, wherein selecting a target parking mode from a set of predetermined parking modes available to control parking of the vehicle into or out of the parking location further comprises:

updating the current location of the vehicle at predetermined intervals in response to determining that the current location is not within any of the predetermined geographic ranges; and

re-determining whether the vehicle is located in the predetermined geographic range after the current location is updated.

7. The method of claim 5, wherein selecting a target parking mode from a set of predetermined parking modes available to control parking of the vehicle into or out of the parking location further comprises:

in response to determining that the current location is not within any of the predetermined geographic ranges or that the current travel route does not match any autonomous parking route, obtaining parking location detection information;

in response to the vehicle being in the out-of-park state and the parking position detection information indicating that the vehicle is in a parking position, or

In response to the vehicle being in the armed state and the parking location detection information indicating detection of an available parking location, selecting an automatic parking assist mode, wherein in the automatic parking assist mode, the vehicle assists a driver in parking into or out of the available parking location.

8. The method of claim 1, wherein determining that the vehicle is in a parked state or in a parked state comprises:

determining that the vehicle is in the out-of-park state in response to the vehicle being started and a current trip after the vehicle is started being less than a threshold trip; and

determining that the vehicle is in the parked state in response to a current vehicle speed of the vehicle being less than a threshold speed and a current trip of the vehicle being greater than a threshold trip.

9. A method of determining a parking mode, comprising:

receiving an indication of a target parking mode, wherein the indication is obtained by performing a method according to any one of claims 1 to 8;

determining the target parking mode according to the instruction; and

and presenting the target parking mode to the driver.

10. An apparatus for determining a parking mode, comprising:

the parking determining module is configured to determine that the vehicle is in a parking-in state at a parking-in position or a parking-out state at a parking-out position;

a mode selection module configured to select a target parking mode from a set of predetermined parking modes that is available to control the vehicle to park in or out of the parking location based on information associated with the parking location; and

an indication providing module configured to provide an indication of the target parking mode.

11. The apparatus of claim 10, wherein the information associated with the parking location comprises one or more of:

historical parking information of the vehicle for the parking location;

12. The method of claim 11, wherein the mode selection module comprises:

the information acquisition module is configured to respond to the fact that the vehicle is determined to be in a to-be-parked state, and acquire the historical parking information;

a first mode selection module configured to select a particular parking mode as the target parking mode in response to determining that the historical parking information indicates that the vehicle used a particular parking mode when previously parked in the parking location.

13. The method of claim 12, wherein the mode determination module further comprises:

a range information obtaining module configured to obtain at least one of the geographical range information in response to determining that the vehicle is in the to-be-parked state or determining that the historical parking information does not indicate that the vehicle uses the specific parking mode;

a matching module configured to determine an autonomous parking route matching a current travel route of the vehicle from at least one of the autonomous parking routes covered by at least one of the predetermined geographic ranges in response to determining that the current location of the vehicle is within at least one of the predetermined geographic ranges indicated by at least one of the geographic range information;

a second mode selection module configured to select an autonomous parking mode corresponding to a first autonomous parking route as the target parking mode in response to determining that only the first autonomous parking route matches.

14. The method of claim 13, wherein the mode determination module further comprises:

a third mode selection module configured to select, as the target parking mode, an autonomous parking mode that the vehicle used last time from a set of autonomous parking modes corresponding to a set of autonomous parking routes in response to determining that the set of autonomous parking routes match.

15. The method of claim 13, wherein the mode determination module further comprises:

a location update module configured to update the current location of the vehicle at predetermined intervals in response to determining that the current location is not within any of the predetermined geographic ranges; and

a re-determination module configured to re-determine whether the vehicle is located in the predetermined geographic range after the current location is updated.

16. The method of claim 14, wherein the mode determination module further comprises:

a detection information acquisition module configured to acquire parking location detection information in response to determining that the current location is not within any of the predetermined geographic ranges or that the current travel route does not match any of the autonomous parking routes;

a fourth mode selection module configured to respond to the vehicle being in the out-of-park state and the parking location detection information indicating that the vehicle is located in the detected available parking location, or

17. The method of claim 10, wherein the parking determination module comprises:

a state determination module configured to determine that the vehicle is in the to-be-parked state in response to the vehicle being started and a current trip after the vehicle is started being less than a threshold trip; and

18. An apparatus for determining a parking mode, comprising:

an indication receiving module configured to receive an indication of a target parking mode, wherein the indication is obtained by performing the method according to any one of claims 1 to 8;

a mode determination module: configured to determine the target parking mode based on the indication; and

a mode presentation module configured to present the target parking mode to a driver.

19. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.

20. An electronic device, comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of claim 9.

21. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-8.

22. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of claim 9.

23. A computer program product comprising a computer program which, when executed by a processor, implements the method according to claims 1-8.

24. A computer program product comprising a computer program which, when executed by a processor, implements the method according to claim 9.